关键词: 非定点碰撞, 碰撞识别, 机械臂, 运动学, 动力学

Abstract: Collision on multi-freedom planar manipulators is studied. According to the geometrical feature of the manipulators, the relatively simple method to test when and where the contact and impact occur is given, which can avoid the complicated iterative search process. The dynamics equations during collision and free flight phase are derived and the Newton coefficient of restitution is introduced to solve the problem of collision. The general calculating frame describing the whole motion including smooth collision is established. Numerical simulation implies that the proposed scheme is valid.

Key words: non-fixed collision, collision identification, manipulator, kinematics, dynamics