Impulse analysis and its applications to dynamic environment

ASME 2002 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE2002

Volumn 5, Issue , 2002, Pages 279-286

  So, Byung Rok ^a   Yi, Byung Ju ^a   Kim, Whee Kuk ^b  

^a Hanyang University   (South Korea)

^b Korea University   (South Korea)

Author keywords

[No Author keywords available]

Indexed keywords

ANALYTICAL MODEL; ANALYTICAL TOOL; DYNAMIC ENVIRONMENTS; HUMAN BODIES; MODELING PROCEDURE; PLANAR ROBOTS; ROBOT CONTROLS; ITS APPLICATIONS; RESEARCH FOCUS;

COMPUTER SIMULATION; MATHEMATICAL MODELS; ROBOTS; ENGINEERING; INDUSTRIAL ENGINEERING;

TECHNICAL PRESENTATIONS; SPORTS;

EID: 0036974237     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: None     Document Type: Conference Paper

References (14)

1. R.M. Brach, "Classical planar impact theory and the tip impact of a slender rod," International Journal of Impact Engineering, Vol. 13, No. 1, pp. 21-33, 1993.
2. G.. Ferretti, G.. Magnani, and A. Zavala Rio, "Impact modeling and control for industrial manipulators," IEEE Control System Magazine, Vol. 18, No. 4, pp. 65-71, 1998.
3. R.A. Freeman and D. Tesar, "Dynamic modeling of serial and parallel mechanisms/robotic systems, Part IMethodology, Part II-Applications," Proceedings on 20th ASME Biennial Mechanisms Conference, Trends and Development in Mechanisms, Machines, and Robotics, Orlando, FL, DE-Vol. 15-3, pp. 7-27, 1988.
4. H.-T. Liao and M.C. Leu, "Analysis of impact in robotic peg-in-hole assembly," Robotica, Vol. 16, No. 3, pp. 347-356, 1998.
5. J.K. Mills and C.V. Nguyen, "Robotic manipulator collisions: Modeling and simulation," ASME Journal of Dynamic Systems, Measurement, and Control, Vol. 114, No. 4, pp. 650-659, 1992.
6. I.D. Walker, "Impact Configurations and Measures for Kinematically Redundant and Multiple Armed Robot Systems," IEEE Trans. on Robotics Automation, Vol.12, No.5, pp. 670-683, 1994.
7. J. Wittenburg, Dynamics of systems of rigid bodies, Stuttgart, B.G. Teubner, 1977.
8. K. Youcef-Toumi and D.A. Gutz, "Impact and force control," Proceedings of the IEEE Conference on Robotics and Automation, pp. 410-416, 1989.
9. Y.-F. Zheng, and H. Henami, "Mathematical modeling of a robot collision with its environment," Journal of Robotic Systems, Vol. 2, No. 3, pp. 289-307, 1985.
10. S.H. Lee, B.-J. Yi, S.H. Kim, and Y.K. Kwak, "Modeling and analysis of internal impact for general classes of robotic mechanism," Proceedings of the 2000 IEEE/RSJ International Conference on Robotics and Systems, pp. 1955-1962, 2000.
11. J.H. Kim, W.K. Chung, and Y.G. Youm, "Normalized impact geometry and performance index for redundant manipulators," Proceedings of the 2000 IEEE International Conference on Robotics and Automation, San Francisco, pp. 1714-1719, 2000.
12. S.H. Lee, B-J. Yi, S.H. Kim, and Y.K. Kwak, "Analysis on Impact of Docking Platform for Spacecraft," Proceedings of the 2001 IEEE International Conference on Robotics and Automation, Seoul Korea, pp.413-420, 2001.
13. S.H. Lee, B-J. Yi, S.H. Kim, and Y.K. Kwak, "Control of Impact Disturbance by Redundantly Actuated Mechanism," Proceedings of the 2001 IEEE International Conference on Robotics and Automation, Seoul Korea, pp.3734-3741, 2001.
14. J.H. Lee, B-J. Yi, I-H. Suh, S.-R. Oh, "Impulse Measure Based Performance Analysis of Sawing Task by Dual Arm," Proceedings of the 2002 IEEE International Conference on Robotics and Automation.