
Proceedings Paper
A simple peak impact force estimation method for a multi-DOF manipulator with joint servoFormat | Member Price | Non-Member Price |
---|---|---|
$17.00 | $21.00 |
Paper Abstract
This paper proposed a simple estimation method of peak impact force by a multi-D.O.F manipulator controlled
by a joint servo on collision with a human or an environment. In the proposed method, an impact model of the
manipulator including both compliances of joint servo and a soft material on a link is described as a 1-D.O.F
impact model. Taylor expansion is introduced to more exactly estimate the peak impact force using the time
that the value of time-derivative of the impact force equals to 0. As a result, the peak impact force is described
as an algebraic function and can be easily and quickly estimated. Simple impact simulations using a 2-D.O.F
manipulator were conducted to confirm the effectiveness of the proposed method. From the simulation results,
it was confirmed that the estimated value of the peak impact force was in accordance with a peak point of a
impact force calculated by numerical method.
Paper Details
Date Published: 22 January 2010
PDF: 8 pages
Proc. SPIE 7500, ICMIT 2009: Mechatronics and Information Technology, 750006 (22 January 2010); doi: 10.1117/12.858853
Published in SPIE Proceedings Vol. 7500:
ICMIT 2009: Mechatronics and Information Technology
Jeha Ryu; Kil To Chong; Ryojun Ikeura; Qingkai Han, Editor(s)
PDF: 8 pages
Proc. SPIE 7500, ICMIT 2009: Mechatronics and Information Technology, 750006 (22 January 2010); doi: 10.1117/12.858853
Show Author Affiliations
Seonghee Jeong, Osaka Electro-Communication Univ. (Japan)
Takayuki Takahashi, Fukushima Univ. (Japan)
Published in SPIE Proceedings Vol. 7500:
ICMIT 2009: Mechatronics and Information Technology
Jeha Ryu; Kil To Chong; Ryojun Ikeura; Qingkai Han, Editor(s)
© SPIE. Terms of Use
