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Pré-Publication, Document De Travail Année : 2021

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

Yuquan Wang
Niels Dehio
Abderrahmane Kheddar

Résumé

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 essential 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, we suggest a viscoelastic contact-force model and computing the inverse inertia matrix assuming the robot is a composite-rigid body.
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Dates et versions

hal-03340547 , version 1 (10-09-2021)
hal-03340547 , version 2 (07-12-2021)
hal-03340547 , version 3 (12-02-2022)

Identifiants

  • HAL Id : hal-03340547 , version 2

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Yuquan Wang, Niels Dehio, Abderrahmane Kheddar. On Inverse Inertia Matrix and Contact-Force Model for Robotic Manipulators at Normal Impacts. 2021. ⟨hal-03340547v2⟩
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