ICRA 2012 Paper Abstract


Paper WeA110.5

Ryu, Hwan Taek (Hanyang University), Choi, Jae Yeon (Hanayang University), Yi, Byung-Ju (Hanyang University)

Impact Dynamics of a Finger Mechanism with Application to Onset of a Cart Motion

Scheduled for presentation during the Interactive Session "Interactive Session WeA-1" (WeA110), Wednesday, May 16, 2012, 08:30−09:00, Ballroom D

2012 IEEE International Conference on Robotics and Automation, May 14-18, 2012, RiverCentre, Saint Paul, Minnesota, USA

This information is tentative and subject to change. Compiled on June 19, 2018

Keywords Contact Modelling, Multifingered Hands, Motion Control of Manipulators


In impact dynamics, coefficient of restitution (COR) is an important parameter to calculate the impulse. Generally, COR has been assumed a constant value. However, COR varies according to the colliding condition. In order to apprehend this phenomenon, analysis of impact dynamics is conducted using a 3-DOF finger mechanism. The external impulse exerted on a wall or a cart by the mechanism is a function of the robotís geometry and dynamic parameters. In this paper, we derive an analytical model of COR with the 3DOF finger model colliding to a wall and a cart, and emphasize that the actual motion just after impact is not the same as what we expected unless the variable COR is considered. The effectiveness of proposed COR model is verified through wall and cart impact experiments using the finger mechanism.



Technical Content © IEEE Robotics & Automation Society

This site is protected by copyright and trademark laws under US and International law.
All rights reserved. © 2002-2018 PaperCept, Inc.
Page generated 2018-06-19  09:08:37 PST  Terms of use