Impact mitigation using kinematic constraints and the full space parameterization method

Conference · Thu Feb 01 00:00:00 EST 1996

OSTI ID:207664

Morgansen, K A; Pin, F G

A new method for mitigating unexpected impact of a redundant manipulator with an object in its environment is presented. Kinematic constraints are utilized with the recently developed method known as Full Space Parameterization (FSP). System performance criterion and constraints are changed at impact to return the end effector to the point of impact and halt the arm. Since large joint accelerations could occur as the manipulator is halted, joint acceleration bounds are imposed to simulate physical actuator limitations. Simulation results are presented for the case of a simple redundant planar manipulator.

• Research Organization: Oak Ridge National Lab. (ORNL), Oak Ridge, TN (United States)
• Sponsoring Organization: USDOE, Washington, DC (United States)
• DOE Contract Number: AC05-84OR21400
• OSTI ID: 207664
• Report Number(s): CONF-960448-8; ON: DE96005366; CNN: U.S. Air Force Combat Command; U.S. Air Force Munitions Material Handling Equipment Focal P; oint; U.S. Air Force Reliability and Maintainability Technology IN; sertion Program; U.S. DOD, Office of the Secretary of Defens...
• Resource Relation: Conference: IEEE international conference on robotics and automation, Minneapolis, MN (United States), 22-28 Apr 1996; Other Information: PBD: [1996]
• Country of Publication: United States
• Language: English

Related Subjects

42 ENGINEERING NOT INCLUDED IN OTHER CATEGORIES
IMPACT SHOCK
MITIGATION
ROBOTS
NAVIGATION
MANIPULATORS
ACCELERATION
COMPUTERIZED SIMULATION