An experimental study of planar impact of a robot manipulator Academic Article

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.

authors

• Pagilla, Prabhakar

published proceedings

• IEEE-ASME TRANSACTIONS ON MECHATRONICS

author list (cited authors)

• Pagilla, P. R., & Yu, B.

citation count

• 30

complete list of authors

• Pagilla, PR||Yu, B

publication date

• March 2004

publisher

• Institute of Electrical and Electronics Engineers (IEEE)  Publisher

published in

• IEEE-ASME Transactions on Mechatronics  Journal

keywords

• Constraint
• Experiments
• Impact
• Robot

Digital Object Identifier (DOI)

• 10.1109/TMECH.2004.823888

start page

• 123

end page

• 128

volume

• 9

issue

• 1

URL

• http://dx.doi.org/10.1109/tmech.2004.823888