On Inverse Inertia Matrix and Contact-Force Model for Robotic Manipulators at Normal Impacts
State-of-the-art impact dynamics models either apply for free-flying objects or do not account that a robotic manipulator is commonly high-stiffness controlled. Thus, we lack tailor-made models for manipulators mounted on a fixed base. Focusing on orthogonal point-to-surface impacts (no tangential velocities), we revisit two main elements of an impact dynamics model: the contact-force model and the inverse inertia matrix. We collect contact-force measurements by impacting a 7 DOF Panda robot against a sensorized rigid environment with various joint configurations and velocities. Evaluating the measurements from 150 trials, the best model-to-data matching suggests a viscoelastic contact-force model and computing the inverse inertia matrix assuming the robot is a composite-rigid body.
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@Article{ wang2022icra,
author = {Wang, Yuquan and Dehio, Niels and Kheddar, Abderrahmane},
title = {On Inverse Inertia Matrix and Contact-Force Model for
Robotic Manipulators at Normal Impacts},
journal = {IEEE Robotics and Automation Letters},
year = {2022},
volume = {7},
number = {2},
pages = {3648-3655}
}