Open AccessThe Determination of the Velocities after Impact for the Constrained Bar Problem
Author(s) -
André Fenili,
Luiz Carlos Gadelha de Souza,
Bernd Schäfer
Publication year - 2009
Publication title -
mathematical problems in engineering
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.262
H-Index - 62
eISSN - 1026-7077
pISSN - 1024-123X
DOI - 10.1155/2009/384071
Subject(s) - simple (philosophy) , set (abstract data type) , bar (unit) , work (physics) , motion (physics) , equations of motion , robot , computer science , robot manipulator , manipulator (device) , mathematics , control theory (sociology) , mathematical optimization , engineering , artificial intelligence , classical mechanics , mechanical engineering , physics , control (management) , philosophy , epistemology , meteorology , programming language
A simple mathematical model for a constrained robotic manipulator is investigated. Besides the fact that this model is relatively simple, all the features present in more complex problems are similar to the ones analyzed here. The fully plastic impact is considered in this paper. Expressions for the velocities of the colliding bodies after impact are developed. These expressions are important in the numerical integration of the governing equations of motion when one must exchange the set of unconstrained equations for the set of constrained equation. The theory presented in this work can be applied to problems in which robots have to follow some prescribed patterns or trajectories when in contact with the environment. It can also de applied to problems in which robotic manipulators must handle payloads
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