Robot manipulators and drive systems can experience instability or poor control performance after impacting with an environment. This paper presents an analytical model for impact which is experimentally validated step-by-step. Extensive simulations and experiments are conducted to explain impact phenomena for the case of a force feedback control of a drive system. The results are based on an energy method and presented concisely in dimensionless form. To this end, a small number of dimensionless groups are used to characterize the impact behavior through simulations and tests. The study shows that an integral force compensation with a velocity feedback improves force tracking and reject impacts. It is also revealed that impact response can be tuned by selecting a favorable dimensionless ratio of force to approach velocity.

This content is only available via PDF.
You do not currently have access to this content.