An experimental study of planar impact of a robot manipulator

Abstract

Provides an experimental study of planar impact of a robot manipulator on a surface. Using the data collected from a series of experiments, it investigates post-impact behavior for different pre-impact conditions such as configuration of the robot, angle and velocity of impact, etc. Understanding the post-impact behavior for various pre-impact conditions can result in the design of improved transition control strategies to stabilize the manipulator onto the surface. Potential applications of this study include robotic surface finishing operations such as polishing, chamfering, deburring, and grinding, etc.