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

Lee, S.H.; Kim, S.H.; Kwak, Yoon Keun

doi:10.1109/iros.2000.895257

Cited by 24 publications

(5 citation statements)

References 10 publications

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“…The Newton-Euler formulation from ref. [14] is adopted here with a small change about the joint constraint. In the original formulation, it is assumed that a revolute joint produces no impulsive torque about the z-axis and is free to rotate, but we will constrain that direction here to estimate the impulsive torque in the speed reducer.…”

Section: Internal Impulse Modelmentioning

confidence: 99%

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A multiple working mode approach to robotic hammering: Analysis and experiments

2021

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A robot arm may be in need for performing various operations, especially for service robots and space robots. This paper presents a strategy that allows a modular and reconfigurable robot to safely perform nail hammering without hardware enhancements. The purpose is to equip a versatile robot arm with hammering capability that can be used if needed. To do this, a multiple working mode approach is applied to switch the selected joint(s) to passive mode with friction compensation to allow free rotation during impact. Analytic impulse models are used to predict joint impulses and serve as criteria for mode switching. Advantages of the proposed approach include savings on space, weight, costs, and complexity for a limited range of nail/board environments. An experimental study has validated analytic models of hammering and demonstrated the effectiveness of the proposed approach.

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Section: Internal Impulse Modelmentioning

confidence: 99%

“…This sparked many branches of research into robot impacts, which include the internal joint impulse model from ref. [14]. The effective mass model [15] accounted for impulsive forces due to resistance and deformation of the environment (wood chips).…”

Section: Introductionmentioning

confidence: 99%

A multiple working mode approach to robotic hammering: Analysis and experiments

2021

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“…In order to calculate the internal impulses on each joint as a function of the external impulse, the internal reaction impulses have to be exposed. The Newton-Euler formulation from [57] is adopted here with a small change about the joint constraint. In the original formulation it is assumed that a revolute joint produces no impulsive torque about the z-axis and is free to rotate, but it is constrained here to estimate the impulsive torque in the speed reducer.…”

Section: Internal Impulse Modelmentioning

confidence: 99%

A Multiple Working Mode Approach to Hammering With A Modular Reconfigurable Robot

Romanyuk¹

2021

Preprint

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Robot joints could be damaged by impulsive forces due to impact when the robot performs hammering operations. This thesis presents the development of a strategy that allows a modular reconfigurable robot to safely perform nail hammering. To do this, a multiple working mode approach is applied to switch the selected joint(s) to passive mode with friction compensation to allow free rotation during impact. Analytic impulse models are used to predict joint impulses which can be computed offline or online and serve as criteria for mode switching. Joint impulses are constrained in case the hammer collides with such an object of infinite effective mass. Advantages of the proposed approach may include savings on space, weight, costs, and complexity for a limited range of nail/board environments. An experimental study validates analytic models of hammering and effectiveness of multiple working mode approach.

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“…When the robotic mechanism collides with environment, not only the end point, the joints of the system also experience impulsive forces or moments. The internal impulse models at the joints by using Newton-Euler equations have been proposed [6][7][8]. However, only the internal impulse model for single contact case has been reported.…”

Section: Introductionmentioning

confidence: 99%

Intelligent Mobility Playing the Role of Impulse Absorption

Chung

Han

2009

Distributed Autonomous Robotic Systems 8

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Abstract. In reality, biomechanical systems such as the human-body, mammal, and birds physically collide or interact with environment. Intelligent mobility inherent in biomechanical systems plays the role of absorbing the impulse that happens due to collision with environment. The impulse transmitted to the lowerextremity of biomechanical systems is first distributed to multiple contact points of foot. Subsequently, jointed leg structure absorbs the impulse as the form of momentum. Thus, the proximal joints far from the contact points receive less amount of impulse. This fact has been understood in an intuitive manner without any analytical ground. This work proposes a Newton-Euler based closed-form impulse model for biomechanical systems in case of multiple contacts. This model is applied to analyze the characteristic of the intelligent mobility of biomechanical system through an example of a landing Ostrich's leg. Furthermore, potential application of the impulse model for multi-chained linkage systems is addressed.

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

Cited by 24 publications

References 10 publications

A multiple working mode approach to robotic hammering: Analysis and experiments

A multiple working mode approach to robotic hammering: Analysis and experiments

A Multiple Working Mode Approach to Hammering With A Modular Reconfigurable Robot

Intelligent Mobility Playing the Role of Impulse Absorption

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