By Topic

Impact configurations and measures for kinematically redundant and multiple armed robot systems

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

1 Author(s)
Walker, I.D. ; Dept. of Electr. & Comput. Eng., Rice Univ., Houston, TX, USA

This paper introduces new methods to evaluate the effects of impact and contact forces on single and multiple robot manipulators. New measures of the vulnerability of any arm to impacts in varying directions are given. Impact ellipsoids corresponding to these measures are defined and analyzed. The effect of different configurations of kinematically redundant arms on (potentially damaging) impact forces at their end effectors during contact with the environment are investigated. New methods for examining the optimal configurations of redundant manipulators under impact task constraints are discussed. Examples showing “good” and “bad” configurations for contacts and tasks of different types are presented. Application of the methods to multiple cooperating arms is considered. Contact due to additional manipulators grasping, or regrasping, a common object held by one or more manipulators is analyzed. Applications to planning and simulation of manipulation of commonly held objects by multiple arms are discussed

Published in:

Robotics and Automation, IEEE Transactions on  (Volume:10 ,  Issue: 5 )