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

Yoshida, K. , Sashida, N. , Kurazume, R. , and Umetani, Y. , 1992, “Modeling of Collision Dynamics for Space Free-Floating Links With Extended Generalized Inertia Tensor,” IEEE International Conference on Robotics and Automation (ICRA), Nice, France, May 12–14, pp. 899–904.
Umetani, Y. , and Yoshida, K. , 1987, “Continuous Path Control of Space Manipulators Mounted on OMV,” Acta Astronaut., 15(12), pp. 981–986. [CrossRef]
Yoshikawa, S. , and Yamada, K. , 1994, “Impact Estimation of a Space Robot at Capturing a Target,” IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Munich, Germany, Sept. 12–16, pp. 1570–1577.
Liu, S. , Wu, L. , and Lu, Z. , 2007, “Impact Dynamics and Control of a Flexible Dual-Arm Space Robot Capturing an Object,” Appl. Math. Comput., 185(2), pp. 1149–1159.
Guo, W. , and Wang, T. , 2015, “A Methodology for Simulations of Multi-Rigid Body Systems With Topology Changes,” Multibody Syst. Dyn., 35(1), pp. 25–38. [CrossRef]
Gan, D. , Tsagarakis, N. G. , Dai, J. S. , Caldwell, D. G. , and Seneviratne, L. , 2013, “Stiffness Design for a Spatial Three Degrees of Freedom Serial Compliant Manipulator Based on Impact Configuration Decomposition,” ASME J. Mech. Rob., 5(1), p. 011002. [CrossRef]
Várkonyi, P. L. , 2015, “On the Stability of Rigid Multibody Systems With Applications to Robotic Grasping and Locomotion,” ASME J. Mech. Rob., 7(4), p. 041012. [CrossRef]
Zhang, M. , and Gosselin, C. , 2016, “Optimal Design of Safe Planar Manipulators Using Passive Torque Limiters,” ASME J. Mech. Rob., 8(1), p. 011008. [CrossRef]
Wang, Q. , Quan, Q. , Deng, Z. , and Hou, X. , 2016, “An Underactuated Robotic Arm Based on Differential Gears for Capturing Moving Targets: Analysis and Design,” ASME J. Mech. Rob., 8(4), p. 041012. [CrossRef]
Ko, W. H. , Chiang, W. H. , Hsu, Y. H. , Yu, M. Y. , Lin, H. S. , and Lin, P. C. , 2016, “A Model-Based Two-Arm Robot With Dynamic Vertical and Lateral Climbing Behaviors,” ASME J. Mech. Rob., 8(4), p. 044503. [CrossRef]
Yoshida, K. , Mavroidis, C. , and Dubowsky, S. , 1997, “Experimental Research on Impact Dynamics of Spaceborne Manipulator Systems,” Experimental Robotics IV, Springer, Berlin, pp. 436–447.
Kim, J. O. , Wayne, M. , and Khosla, P. K. , 1994, “Exploiting Redundancy to Reduce Impact Force,” J. Intell. Rob. Syst., 9(3), pp. 273–290. [CrossRef]
Wee, L.-B. , and Walker, M. W. , 1993, “On the Dynamics of Contact Between Space Robots and Configuration Control for Impact Minimization,” IEEE Trans. Rob. Autom., 9(5), pp. 581–591. [CrossRef]
Huang, P. , Yuan, J. , Xu, Y. , and Liu, R. , 2006, “Approach Trajectory Planning of Space Robot for Impact Minimization,” IEEE International Conference on Information Acquisition (ICIA), Weihai, China, Aug. 20–23, pp. 382–387.
Huang, P. , Xu, Y. , and Liang, B. , 2005, “Contact and Impact Dynamics of Space Manipulator and Free-Flying Target,” IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Edmonton, AB, Canada, Aug. 2–6, pp. 1181–1186.
Yoshida, K. , and Sashida, N. , 1993, “Modeling of Impact Dynamics and Impulse Minimization for Space Robots,” IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Yokohama, Japan, July 26–30, pp. 2064–2069.
Walker, I. D. , 1994, “Impact Configurations and Measures for Kinematically Redundant and Multiple Armed Robot Systems,” IEEE Trans. Rob. Autom., 10(5), pp. 670–683. [CrossRef]
Barcio, B. T. , and Walker, I. D. , 1994, “Impact Ellipsoids and Measures for Robot Manipulators,” IEEE International Conference on Robotics and Automation (ICRA), San Diego, CA, May 8–13, pp. 1588–1594.
Featherstone, R. , 1983, “The Calculation of Robot Dynamics Using Articulated-Body Inertias,” Int. J. Rob. Res., 2(1), pp. 13–30. [CrossRef]
Rodriguez, G. , 1987, “Kalman Filtering, Smoothing, and Recursive Robot Arm Forward and Inverse Dynamics,” IEEE J. Rob. Autom., 3(6), pp. 624–639. [CrossRef]
Rodriguez, G. , Jain, A. , and Kreutz-Delgado, K. , 1992, “Spatial Operator Algebra for Multibody System Dynamics,” J. Astronaut. Sci., 40(1), pp. 27–50.
Jain, A. , and Rodriguez, G. , 1992, “Recursive Flexible Multibody System Dynamics Using Spatial Operators,” J. Guid., Control, Dyn., 15(6), pp. 1453–1466. [CrossRef]
Jain, A. , and Rodriguez, G. , 1993, “An Analysis of the Kinematics and Dynamics of Underactuated Manipulators,” IEEE Trans. Rob. Autom., 9(4), pp. 411–422. [CrossRef]
Jain, A. , and Rodriguez, G. , 1995, “ Base-Invariant Symmetric Dynamics of Free-Flying Manipulators,” IEEE Trans. Rob. Autom., 11(4), pp. 585–597. [CrossRef]
Zhixiang, T. , and Hongtao, W. , 2010, “Spatial Operator Algebra for Free-Floating Space Robot Modeling and Simulation,” Chin. J. Mech. Eng., 23(5), pp. 635–640. [CrossRef]
Craig, J. J. , 2005, Introduction to Robotics: Mechanics and Control, Pearson Prentice Hall, Upper Saddle River, NJ, Chap. 5.
Xianda, Z. , 2004, “Characteristic Analysis,” Matrix Analysis and Applications, Tsinghua University Press, Beijing, China, pp. 453–588.

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. 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. 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. 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

Grahic Jump Location
Fig. 4

The inertia ellipsoids of the robot and the target

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