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On the transition phase in robotics: impact models, dynamics and control

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2 Author(s)
Brogliato, B. ; Lab. d''Autom. de Grenoble, CNRS, St. Martin d''Heres, France ; Orhant, P.

The aim of this note is threefold: i) to introduce a rigorous mathematical model of impulsive collisions dynamics through the use of Schwartz's distributions; ii) to study the relationships between impulsive and continuous dynamics models of impacts (i.e. models composed of mass, spring, damper); and iii) to analyze the difficulties associated with the transition phase control. The authors start a tentative comparison on two models of impacts through a simple example of a mass colliding with a wall. Numerical simulations illustrating the examples are presented

Published in:

Robotics and Automation, 1994. Proceedings., 1994 IEEE International Conference on

Date of Conference:

8-13 May 1994

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