Impact analysis of space manipulator collision with soft environment

A continuous contact model for space manipulator collision with soft environment is proposed in this paper. Instead of instant impulse, the collision force in this paper is considered as a continuous force based on Hertz law with a hysteresis damping and a concept of effective mass is proposed to apply the model to manipulator system. The effects of the collision are analyzed later and results of numerical simulations show the force/torque on the base and joints of the manipulator responding to the contact force during collision.