This paper studies the collision problem of a robot manipulator and presents a method to minimize the impact force by pre-impact configuration designing. First, a general dynamic model of a robot manipulator capturing a target is established by spatial operator algebra (SOA) and a simple analytical formula of the impact force is obtained. Compared with former models proposed in literatures, this model has simpler form, wider range of applications, O(n) computation complexity, and the system Jacobian matrix can be provided as a production of the configuration matrix and the joint matrix. Second, this work utilizes the impulse ellipsoid to analyze the influence of the pre-impact configuration and the impact direction on the impact force. To illustrate the inertia message of each body in the joint space, a new concept of inertia quasi-ellipsoid (IQE) is introduced. We find that the impulse ellipsoid is constituted of the inertia ellipsoids of the robot manipulator and the target, while each inertia ellipsoid is composed of a series of inertia quasi-ellipsoids. When all inertia quasi-ellipsoids exhibit maximum (minimum) coupling, the impulse ellipsoid should be the flattest (roundest). Finally, this paper provides the analytical expression of the impulse ellipsoid, and the eigenvalues and eigenvectors are used as measurements to illustrate the size and direction of the impulse ellipsoid. With this measurement, the desired pre-impact configuration and the impact direction with minimum impact force can be easily solved. The validity and efficiency of this method are verified by a PUMA robot and a spatial robot.
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June 2017
Research-Article
Pre-Impact Configuration Designing of a Robot Manipulator for Impact Minimization
Jingchen Hu,
Jingchen Hu
School of Aerospace Engineering,
Tsinghua University,
Beijing 100084, China
e-mail: hjc20090918@163.com
Tsinghua University,
Beijing 100084, China
e-mail: hjc20090918@163.com
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Tianshu Wang
Tianshu Wang
School of Aerospace Engineering,
Tsinghua University,
Beijing 100084, China
e-mail: tswang@tsinghua.edu.cn
Tsinghua University,
Beijing 100084, China
e-mail: tswang@tsinghua.edu.cn
Search for other works by this author on:
Jingchen Hu
School of Aerospace Engineering,
Tsinghua University,
Beijing 100084, China
e-mail: hjc20090918@163.com
Tsinghua University,
Beijing 100084, China
e-mail: hjc20090918@163.com
Tianshu Wang
School of Aerospace Engineering,
Tsinghua University,
Beijing 100084, China
e-mail: tswang@tsinghua.edu.cn
Tsinghua University,
Beijing 100084, China
e-mail: tswang@tsinghua.edu.cn
1Corresponding author.
Manuscript received July 4, 2016; final manuscript received November 29, 2016; published online March 23, 2017. Assoc. Editor: Jun Ueda.
J. Mechanisms Robotics. Jun 2017, 9(3): 031010 (10 pages)
Published Online: March 23, 2017
Article history
Received:
July 4, 2016
Revised:
November 29, 2016
Citation
Hu, J., and Wang, T. (March 23, 2017). "Pre-Impact Configuration Designing of a Robot Manipulator for Impact Minimization." ASME. J. Mechanisms Robotics. June 2017; 9(3): 031010. https://doi.org/10.1115/1.4035373
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