Abstract
The authors present a basic formulation of motion dynamics of a free-floating rigid-link system to establish a basis of the collision dynamics. They propose a novel concept named extended generalized inertia tensor (Ex-GIT), which is an extended version of the GIT for ground-based arms, and discuss the virtual mass concept. By means of these concepts, they formulate the collision problem focusing on a velocity relationship just before and after the collision without sensing the impact force, but considering the momentum conservation law.
| Original language | English |
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| Title of host publication | Proceedings - IEEE International Conference on Robotics and Automation |
| Publisher | Publ by IEEE |
| Pages | 899-904 |
| Number of pages | 6 |
| Volume | 1 |
| ISBN (Print) | 0818627204 |
| Publication status | Published - Apr 1992 |
| Externally published | Yes |
| Event | Proceedings 1992 IEEE International Conference on Robotics and Automation - Nice, Fr Duration: May 12 1992 → May 14 1992 |
Other
| Other | Proceedings 1992 IEEE International Conference on Robotics and Automation |
|---|---|
| City | Nice, Fr |
| Period | 5/12/92 → 5/14/92 |
All Science Journal Classification (ASJC) codes
- Software
- Control and Systems Engineering
- Artificial Intelligence
- Electrical and Electronic Engineering