Predicting the Post-Impact Velocity of a Robotic Arm via Rigid Multibody Models: an Experimental Study
Ilias Aouaj Vincent Padois Alessandro Saccon Ilias Aouaj Vincent Padois Alessandro Saccon
Accurate post-impact velocity predictions are essential in developing impact-aware manipulation strategies for robots, where contacts are intentionally established at non-zero speed mimicking human manipulation abilities in dynamic grasping and pushing of objects. Starting from the recorded dynamic response of a 7DOF torque-controlled robot that intentionally impacts a rigid surface, we investigat...