On Inverse Inertia Matrix and Contact-Force Model for Robotic Manipulators at Normal Impacts

Yuquan Wang (1) , Niels Dehio (1) , Abderrahmane Kheddar (1)

1 LIRMM | IDH - Interactive Digital Humans

State-of-the-art impact dynamics models either apply for free-flying objects or do not account that a robotic manipulator is commonly high-stiffness controlled. Thus, we lack tailor-made models for manipulators mounted on a fixed base. Focusing on orthogonal point-to-surface impacts (no tangential velocities), we revisit two main elements of an impact dynamics model: the contact-force model and the inverse inertia matrix. We collect contact-force measurements by impacting a 7 DOF Panda robot against a sensorized rigid environment with various joint configurations and velocities. Evaluating the measurements from 150 trials, the best model-to-data matching suggests a viscoelastic contact-force model and computing the inverse inertia matrix assuming the robot is a composite-rigid body.

Mots clés: Contact modeling; dynamics; industrial robots

Domaines: Robotique [cs.RO]

Yuquan Wang, Niels Dehio, Abderrahmane Kheddar. On Inverse Inertia Matrix and Contact-Force Model for Robotic Manipulators at Normal Impacts. IEEE Robotics and Automation Letters, 2022, 7 (2), pp.3648-3655. ⟨10.1109/LRA.2022.3145967⟩. ⟨hal-03340547v3⟩