On Impact Dynamics of Robotic Operations.
Abstract
For a manipulator operation, the motion of an object to be manipulated is determined by the forces applied to the object. It is important to understand the dynamics for planning successful robot operations. The presence of friction, elasticity, as well as the inertial property of the object makes the problem difficult. This paper presents an analysis of impact dynamics incorporating these phenomena. When inertial forces dominate an impact process, that contact modes of impact can be predicted in an impact space that represents all possible processes. The fundamental motion of the object is described by the way it will rotate. The effects of the above mentioned phenomena on the fundamental motion can be determined in the impact space. It is found that the prediction of the fundamental motion made by the quasi-static analysis is a lower bound for dynamic cases. The results of this analysis can be applied to the planning of robot manipulations. For simplicity, the operations and the object are constrained to a two dimensional space.
Document Details
- Document Type
- Technical Report
- Publication Date
- Sep 01, 1986
- Accession Number
- ADA176464
Entities
People
- Yu Wang
Organizations
- Carnegie Mellon University