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

نویسندگان

چکیده

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 manipulators mounted on fixed base. Focusing orthogonal point-to-surface impacts (no tangential velocities), revisit two main elements of an model: the contact-force model and inverse inertia matrix. We collect measurements by impacting 7 DOF Panda robot against sensorized rigid environment with various joint configurations velocities. Evaluating from 150 trials, best model-to-data matching suggests viscoelastic computing matrix assuming composite-rigid body.

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ژورنال

عنوان ژورنال: IEEE robotics and automation letters

سال: 2022

ISSN: ['2377-3766']

DOI: https://doi.org/10.1109/lra.2022.3145967