0
Research Papers

Pre-Impact Configuration Designing of a Robot Manipulator for Impact Minimization

[+] Author and Article Information
Jingchen Hu

School of Aerospace Engineering,
Tsinghua University,
Beijing 100084, China
e-mail: hjc20090918@163.com

Tianshu Wang

School of Aerospace Engineering,
Tsinghua University,
Beijing 100084, China
e-mail: tswang@tsinghua.edu.cn

1Corresponding author.

Manuscript received July 4, 2016; final manuscript received November 29, 2016; published online March 23, 2017. Assoc. Editor: Jun Ueda.

J. Mechanisms Robotics 9(3), 031010 (Mar 23, 2017) (10 pages) Paper No: JMR-16-1192; doi: 10.1115/1.4035373 History: Received July 04, 2016; Revised November 29, 2016

This paper studies the collision problem of a robot manipulator and presents a method to minimize the impact force by pre-impact configuration designing. First, a general dynamic model of a robot manipulator capturing a target is established by spatial operator algebra (SOA) and a simple analytical formula of the impact force is obtained. Compared with former models proposed in literatures, this model has simpler form, wider range of applications, O(n) computation complexity, and the system Jacobian matrix can be provided as a production of the configuration matrix and the joint matrix. Second, this work utilizes the impulse ellipsoid to analyze the influence of the pre-impact configuration and the impact direction on the impact force. To illustrate the inertia message of each body in the joint space, a new concept of inertia quasi-ellipsoid (IQE) is introduced. We find that the impulse ellipsoid is constituted of the inertia ellipsoids of the robot manipulator and the target, while each inertia ellipsoid is composed of a series of inertia quasi-ellipsoids. When all inertia quasi-ellipsoids exhibit maximum (minimum) coupling, the impulse ellipsoid should be the flattest (roundest). Finally, this paper provides the analytical expression of the impulse ellipsoid, and the eigenvalues and eigenvectors are used as measurements to illustrate the size and direction of the impulse ellipsoid. With this measurement, the desired pre-impact configuration and the impact direction with minimum impact force can be easily solved. The validity and efficiency of this method are verified by a PUMA robot and a spatial robot.

FIGURES IN THIS ARTICLE
<>
Copyright © 2017 by ASME
Your Session has timed out. Please sign back in to continue.

References

Figures

Grahic Jump Location
Fig. 1

The dynamic model of a robot manipulator during target capture

Grahic Jump Location
Fig. 2

The ellipsoid and the quasi-ellipsoid

Grahic Jump Location
Fig. 3

The impulse ellipsoid

Grahic Jump Location
Fig. 4

The inertia ellipsoids of the robot and the target

Grahic Jump Location
Fig. 5

A simplified PUMA robot

Grahic Jump Location
Fig. 6

The inertia quasi-ellipsoid of each body in the robot system

Grahic Jump Location
Fig. 7

The impulse ellipsoid when θ3≠0

Grahic Jump Location
Fig. 8

The effect of pre-impact configurations on the eigenvalues of CM in the PUMA robot: (a) the first eigenvalue, (b) the second eigenvalue, and (c) the third eigenvalue

Grahic Jump Location
Fig. 9

The impulse ellipsoids of the PUMA robot in different preconfigurations

Grahic Jump Location
Fig. 10

A planar free-floating space robot

Grahic Jump Location
Fig. 11

The effect of pre-impact configurations on the eigenvalues of CM in the planar space robot: (a) the first eigenvalue and (b) the second eigenvalue

Grahic Jump Location
Fig. 12

The impulse ellipsoids of the planar space robot in different preconfigurations

Tables

Errata

Discussions

Some tools below are only available to our subscribers or users with an online account.

Related Content

Customize your page view by dragging and repositioning the boxes below.

Related Journal Articles
Related eBook Content
Topic Collections

Sorry! You do not have access to this content. For assistance or to subscribe, please contact us:

  • TELEPHONE: 1-800-843-2763 (Toll-free in the USA)
  • EMAIL: asmedigitalcollection@asme.org
Sign In