Title :
On perfectly plastic impact dynamics of planar multi-link robotic systems contact with the environment
Author :
Mu, Xiuping ; Wu, Qiong
Author_Institution :
Dept. of Mech. & Manuf. Eng., Manitoba Univ., Winnipeg, Man.
Abstract :
Impact dynamic equations for planar multi-link robotic collisions are modified, which can model both cases of full-ranked and rank-deficient Jacobian matrices. Rank-deficient Jacobian matrices cause the impact equations to be indeterminate. It is shown that (i) the post impact angular velocities are determined and can be solved explicitly without extra equations, and (ii) a set of linear equations with unknown impulses can be obtained where the impulses can only be solved if extra equations of impulses are provided. Two robot collision problems with rank-deficient Jacobian matrices are presented to exemplify the method
Keywords :
Jacobian matrices; collision avoidance; impact (mechanical); robot dynamics; full-ranked Jacobian matrices; linear equations; planar multilink robotic collision; planar multilink robotic systems; plastic impact dynamics; rank-deficient Jacobian matrices; Angular velocity; Angular velocity control; Electronic mail; Equations; Jacobian matrices; Legged locomotion; Motion control; Path planning; Plastics; Robot motion;
Conference_Titel :
Control Applications, 2005. CCA 2005. Proceedings of 2005 IEEE Conference on
Conference_Location :
Toronto, Ont.
Print_ISBN :
0-7803-9354-6
DOI :
10.1109/CCA.2005.1507291
