We investigate the instantaneous impact phenomenon due to the collision between the manipulator and the environment for kinematically redundant manipulators. First, we define a normalized impact geometry in the viewpoint of normalized velocity change. We then reduce the impulsive effects under uncertain environment for redundant manipulators. A new impact performance index based on velocity direction is proposed. Finally, the performance of the proposed index is demonstrated by numerical examples and experiments.
['Jinhyun Kim', 'Wan Kyun Chung', 'Youngil Youm']
Normalized impact geometry and performance index for redundant manipulators