Modeling and analysis of internal impact for general classes of robotic mechanisms

IEEE International Conference on Intelligent Robots and Systems

Volumn 3, Issue , 2000, Pages 1955-1962

  Lee, S H ^a   Yi, B J ^a   Kim, S H ^a   Kwak, Y K ^a  

^a Korea Advanced Institute of Science and Technology (KAIST)   (South Korea)

Author keywords

[No Author keywords available]

Indexed keywords

DYNAMICS; INTEGRATION; MANIPULATORS; MATHEMATICAL MODELS; MATRIX ALGEBRA; MECHANISMS;

INTERNAL IMPACT; JACOBIAN MATRIX; NEWTON-EULER'S EQUATION; ROBOTIC MECHANISMS;

ROBOTICS;

EID: 0034448592     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: None     Document Type: Conference Paper

References (11)

1. Classical planar impact theory and the tip impact of a slender rod
2. Impact modeling and control for industrial manipulators
3. Dynamic modeling of serial and parallel mechanisms/robotic systems, Part I-Methodology, Part II-Applications
4. Analysis of impact in robotic peg-in-hole assembly
5. Robotic manipulator collisions: Modelling and simulation
6. Dynamic computation of closed-link robot mechanisms with nonredundant and redundant actuators
7. The use of kinematic redundancy in reducing impact and contact effects in manipulation
8. Dynamics of systems of rigid bodies
9. The effect of flexibility on the impact response of a two-link rigid-flexible manipulator
10. Impact and force control
11. Mathematical modeling of a robot collision with its environment