Abstract
In this article, we investigate the instantaneous impact phenomenon due to the collision between the manipulator and the environment for kinematically redundant manipulators. First, we define normalized impact geometry in the viewpoint of normalized velocity change. And then, to reduce impulsive effects under uncertain environment for redundant manipulators, a new impact performance index based on velocity direction is proposed. Finally, the performance of the proposed index is demonstrated by numerical examples and experiments.
| Original language | English |
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| Pages (from-to) | 1714-1719 |
| Number of pages | 6 |
| Journal | Proceedings - IEEE International Conference on Robotics and Automation |
| Volume | 2 |
| State | Published - 2000 |
| Event | ICRA 2000: IEEE International Conference on Robotics and Automation - San Francisco, CA, USA Duration: 24 Apr 2000 → 28 Apr 2000 |