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The Determination of the Velocities after Impact for the Constrained Bar Problem

Fenili, André and Gadelha de Souza, Luiz Carlos and Schäfer, Bernd (2010) The Determination of the Velocities after Impact for the Constrained Bar Problem. Mathematical Problems in Engineering (ID 384071). Hindawi Publishing Corporation. doi: 10.1155/2009/384071.

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Official URL: http://www.hindawi.com/journals/mpe/2009/384071.html


A simple mathematical model for a constrained robotic manipulator is investigated. Besides the fact that this model is relatively simple, all the features present in more complex problems are similar to the ones analyzed here. The fully plastic impact is considered in this paper. Expressions for the velocities of the colliding bodies after impact are developed. These expressions are important in the numerical integration of the governing equations of motion when one must exchange the set of unconstrained equations for the set of constrained equation. The theory presented in this work can be applied to problems in which robots have to follow some prescribed patterns or trajectories when in contact with the environment. It can also de applied to problems in which robotic manipulators must handle payloads.

Item URL in elib:https://elib.dlr.de/63858/
Document Type:Article
Title:The Determination of the Velocities after Impact for the Constrained Bar Problem
AuthorsInstitution or Email of AuthorsAuthor's ORCID iDORCID Put Code
Fenili, André1Center for Engineering, Modeling and Applied Social Sciences (CECS), BrazilUNSPECIFIEDUNSPECIFIED
Gadelha de Souza, Luiz Carlos National Institute for Space Research—INPE, BrazilUNSPECIFIEDUNSPECIFIED
Journal or Publication Title:Mathematical Problems in Engineering
Refereed publication:Yes
Open Access:Yes
Gold Open Access:Yes
In ISI Web of Science:Yes
Publisher:Hindawi Publishing Corporation
Keywords:Determination of the Velocities, Constrained Bar Problem
HGF - Research field:Aeronautics, Space and Transport (old)
HGF - Program:Space (old)
HGF - Program Themes:W SY - Technik für Raumfahrtsysteme
DLR - Research area:Space
DLR - Program:W SY - Technik für Raumfahrtsysteme
DLR - Research theme (Project):W - Weiterentwicklung Robotik - Mechatronik und Dynamik (old)
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (until 2012) > Robotic Systems
Deposited By: Beinhofer, Gabriele
Deposited On:07 Apr 2010 08:24
Last Modified:18 Mar 2024 13:41

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