Predicting the post-impact velocity of a robotic arm

Abstract : Starting from the recorded dynamic response of a 7DOF torque-controlled robot while intentionally impacting a rigid surface, we investigate the possibility of predicting the post-impact robot velocity from the ante-impact velocity and configuration. The velocity prediction is obtained by means of an impact map, derived using the framework of nonsmooth mechanics, that makes use of the known rigid-body robot model and the assumption of a frictionless inelastic impact. The main contribution is proposing a methodology that allows for a meaningful quantitative comparison between the recorded post-impact data, that exhibits a damped oscillatory response after the impact, and the post-impact velocity prediction derived via the rigid-body robot model, that presents no oscillations. The results of this approach are promising and the recorded impact data (18 experiments) is made publicly available, together with the numerical routines employed to generate the quantitative comparison, to further stimulate research in this field.
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Submitted on : Friday, January 10, 2020 - 2:12:41 PM
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Ilias Aouaj, Vincent Padois, Alessandro Saccon. Predicting the post-impact velocity of a robotic arm. 2019. ⟨hal-02434909⟩

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