An experimental study of planar impact of a robot manipulator

Author

Pagilla, Prabhakar R. ; Yu, Biao

Author_Institution

Sch. of Mech. & Aerosp. Eng., Oklahoma State Univ., Stillwater, OK, USA

Volume

9

Issue

1

fYear

2004

fDate

3/1/2004 12:00:00 AM

Firstpage

123

Lastpage

128

Abstract

An experimental study of planar impact of a robot manipulator with a stationary rigid surface is presented. Using the data collected from a series of experiments, this paper investigates the post-impact behavior for different pre-impact conditions such as the configuration of the robot, the angle and the velocity of impact. A better understanding of the post-impact behavior for various pre-impact conditions can lead to improved control strategies during impacts in robotic manipulation. Potential applications of this study include robotic assembly and contact tasks. Further, this study could be seen as a preliminary experimental work on impact of general kinematic chains.

Keywords

end effectors; impact (mechanical); manipulator kinematics; velocity; direction reversal; general kinematic chains; impact angle; impact velocity; kinematic restitution coefficient; manipulator dynamics; manipulator end effector; planar impact; postimpact behavior; preimpact conditions; rigid body theory; robot configuration; robot manipulator; stationary rigid surface; tangential velocity; Deburring; End effectors; Kinematics; Kinetic theory; Land surface; Manipulators; Predictive models; Robotic assembly; Robots; Surface finishing;

fLanguage

English

Journal_Title

Mechatronics, IEEE/ASME Transactions on

Publisher

ieee

ISSN

1083-4435

Type

jour

DOI

10.1109/TMECH.2004.823888

Filename

1275486