An Experimental Study of Planar Impact of a Robot Manipulator

摘要

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.