Mathematical modeling of a robot collision with its environment

In this article the collision of a robot with its environment is studied

Yuan-Fang Zheng

2007

Scholarcy highlights

  • In this article the collision of a robot with its environment is studied
  • The mathematical model is derived to establish the quantitative relationship between this abrupt change and the severity of the collision
  • The mathematical model is derived to establish a quantitative relation between the impulsive forces and torquest of constraint and the collision. These two models are applied to a Stanford Arm designed to pick up an object by its end effector, and the consequences of the collision are analyzed
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