Paper Title:
Limb/Ground Impacts and Unexpected Impacts Control Strategy for a Model of a Walking Robot Limb
  Abstract

The paper deals with numerical analysis of dynamics of walking robots. The focus is on limb/ground contact. Normal and tangent direction are considered separately. In the normal one, the contacts are modeled as unilateral constraints. In the tangent one, slip and friction are considered. As the contacts are unilateral, nonzero velocities could be present before the contact. These velocities diminish rapidly, and significant contact forces are present. The forces have destructive influence on the robot structure, and the impulsive changes of the arms velocities can disorient the control system. In the paper, the impact consequences are discussed, as well as consequences of installation of a 0/1 contact sensor. A 3D mechatronic multibody model of a quote of a robot is considered. Its limb is driven by DC motors and controlled by a dedicated control system. With the zero signals from the sensor, the control prevents a constant velocity of the limb end. The normal component of the velocity has to be stopped at the positive signals, and the motor current has to be reduced. Exemplary calculations are presented in the paper.

  Info
Periodical
Solid State Phenomena (Volume 164)
Edited by
Andrejus H. Marcinkevičius and Algirdas V.Valiulis
Pages
377-382
DOI
10.4028/www.scientific.net/SSP.164.377
Citation
K. Lipiński, "Limb/Ground Impacts and Unexpected Impacts Control Strategy for a Model of a Walking Robot Limb", Solid State Phenomena, Vol. 164, pp. 377-382, 2010
Online since
June 2010
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Price
$32.00
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