Modeling of Collision Dynamics of Free-Floating Link Systems with Extended Inversed Inertia Tensor

Modeling of Collision Dynamics of Free-Floating Link Systems with Extended Inversed Inertia Tensor

This paper presents a basic formulation of motion dynamics of free-floating link systems, to establish a basis of the collision dynamics. The authors propose a new concept named “Extended Inversed Inertia Tensor (Ex-IIT) ”, which is an extended version of the IIT for ground-based arms, and discuss t...

Ausführliche Beschreibung

Gespeichert in:
Bibliographische Detailangaben
Veröffentlicht in:Journal of the Robotics Society of Japan 1993/04/15, Vol.11(3), pp.410-418
Hauptverfasser: YOSHIDA, Kazuya, SASHIDA, Naoki, UMETANI, Yoji
Format: Artikel
Sprache:eng
Schlagworte:
Free-floating links
Impact dynamics
Inertia tensor
Space robot
Virtual mass
Online-Zugang:Volltext
Tags: Tag hinzufügen
Keine Tags, Fügen Sie den ersten Tag hinzu!
container_end_page 418
container_issue 3
container_start_page 410
container_title Journal of the Robotics Society of Japan
container_volume 11
creator YOSHIDA, Kazuya
SASHIDA, Naoki
UMETANI, Yoji
description This paper presents a basic formulation of motion dynamics of free-floating link systems, to establish a basis of the collision dynamics. The authors propose a new concept named “Extended Inversed Inertia Tensor (Ex-IIT) ”, which is an extended version of the IIT for ground-based arms, and discuss the virtual mass concept. By means of the concepts, they formulate the collision problem focusing on a velocity relationship just before and after the collision without sensing the impact force, but considering the momentum conservation law. The validity of the formulation is confirmed by a simple free-floating experiment.
doi_str_mv 10.7210/jrsj.11.410
format Article
fullrecord <record><control><sourceid>jstage_cross</sourceid><recordid>TN_cdi_crossref_citationtrail_10_7210_jrsj_11_410</recordid><sourceformat>XML</sourceformat><sourcesystem>PC</sourcesystem><sourcerecordid>article_jrsj1983_11_3_11_3_410_article_char_en</sourcerecordid><originalsourceid>FETCH-LOGICAL-c1760-1e74976b84ebad941f67a93b1aa4cd0e189a31f25a28dfcde5650eecf8306de33</originalsourceid><addsrcrecordid>eNp1kE9PwzAMxSMEEhPsxBfoHXXETdamR7Q_MGmIA-NcpYm7ZXQJSiJg3552m3ZA4mJb9u89yY-QO6CjIgP6sPVhOwIYcaAXZABC8LQAPr4kA5qJMgWR8WsyDMHUlELGeHcbkPrFaWyNXSeuSSaubU0wzibTvZU7o0K_nXvEdN46GXtsaexH8rYPEXch-TZxk8x-IlqNOlnYL_ThMKCPRiYrtMH5W3LVyDbg8NRvyPt8tpo8p8vXp8XkcZkqKHKaAha8LPJacKylLjk0eSFLVoOUXGmKIErJoMnGMhO6URrH-ZgiqkYwmmtk7IbcH32VdyF4bKpPb3bS7yugVZ9Q1SdUAVRdQh0Nf2hlYveis9FL0_6jmR412xDlGs_-svtWtXhgoRSs50-lk53PaiN9hZb9AjGahFI</addsrcrecordid><sourcetype>Aggregation Database</sourcetype><iscdi>true</iscdi><recordtype>article</recordtype></control><display><type>article</type><title>Modeling of Collision Dynamics of Free-Floating Link Systems with Extended Inversed Inertia Tensor</title><source>Elektronische Zeitschriftenbibliothek - Frei zugängliche E-Journals</source><creator>YOSHIDA, Kazuya ; SASHIDA, Naoki ; UMETANI, Yoji</creator><creatorcontrib>YOSHIDA, Kazuya ; SASHIDA, Naoki ; UMETANI, Yoji</creatorcontrib><description>This paper presents a basic formulation of motion dynamics of free-floating link systems, to establish a basis of the collision dynamics. The authors propose a new concept named “Extended Inversed Inertia Tensor (Ex-IIT) ”, which is an extended version of the IIT for ground-based arms, and discuss the virtual mass concept. By means of the concepts, they formulate the collision problem focusing on a velocity relationship just before and after the collision without sensing the impact force, but considering the momentum conservation law. The validity of the formulation is confirmed by a simple free-floating experiment.</description><identifier>ISSN: 0289-1824</identifier><identifier>EISSN: 1884-7145</identifier><identifier>DOI: 10.7210/jrsj.11.410</identifier><language>eng</language><publisher>The Robotics Society of Japan</publisher><subject>Free-floating links ; Impact dynamics ; Inertia tensor ; Space robot ; Virtual mass</subject><ispartof>Journal of the Robotics Society of Japan, 1993/04/15, Vol.11(3), pp.410-418</ispartof><rights>The Robotics Society of Japan</rights><oa>free_for_read</oa><woscitedreferencessubscribed>false</woscitedreferencessubscribed><citedby>FETCH-LOGICAL-c1760-1e74976b84ebad941f67a93b1aa4cd0e189a31f25a28dfcde5650eecf8306de33</citedby></display><links><openurl>$$Topenurl_article</openurl><openurlfulltext>$$Topenurlfull_article</openurlfulltext><thumbnail>$$Tsyndetics_thumb_exl</thumbnail><link.rule.ids>314,776,780,27903,27904</link.rule.ids></links><search><creatorcontrib>YOSHIDA, Kazuya</creatorcontrib><creatorcontrib>SASHIDA, Naoki</creatorcontrib><creatorcontrib>UMETANI, Yoji</creatorcontrib><title>Modeling of Collision Dynamics of Free-Floating Link Systems with Extended Inversed Inertia Tensor</title><title>Journal of the Robotics Society of Japan</title><addtitle>JRSJ</addtitle><description>This paper presents a basic formulation of motion dynamics of free-floating link systems, to establish a basis of the collision dynamics. The authors propose a new concept named “Extended Inversed Inertia Tensor (Ex-IIT) ”, which is an extended version of the IIT for ground-based arms, and discuss the virtual mass concept. By means of the concepts, they formulate the collision problem focusing on a velocity relationship just before and after the collision without sensing the impact force, but considering the momentum conservation law. The validity of the formulation is confirmed by a simple free-floating experiment.</description><subject>Free-floating links</subject><subject>Impact dynamics</subject><subject>Inertia tensor</subject><subject>Space robot</subject><subject>Virtual mass</subject><issn>0289-1824</issn><issn>1884-7145</issn><fulltext>true</fulltext><rsrctype>article</rsrctype><creationdate>1993</creationdate><recordtype>article</recordtype><recordid>eNp1kE9PwzAMxSMEEhPsxBfoHXXETdamR7Q_MGmIA-NcpYm7ZXQJSiJg3552m3ZA4mJb9u89yY-QO6CjIgP6sPVhOwIYcaAXZABC8LQAPr4kA5qJMgWR8WsyDMHUlELGeHcbkPrFaWyNXSeuSSaubU0wzibTvZU7o0K_nXvEdN46GXtsaexH8rYPEXch-TZxk8x-IlqNOlnYL_ThMKCPRiYrtMH5W3LVyDbg8NRvyPt8tpo8p8vXp8XkcZkqKHKaAha8LPJacKylLjk0eSFLVoOUXGmKIErJoMnGMhO6URrH-ZgiqkYwmmtk7IbcH32VdyF4bKpPb3bS7yugVZ9Q1SdUAVRdQh0Nf2hlYveis9FL0_6jmR412xDlGs_-svtWtXhgoRSs50-lk53PaiN9hZb9AjGahFI</recordid><startdate>19930415</startdate><enddate>19930415</enddate><creator>YOSHIDA, Kazuya</creator><creator>SASHIDA, Naoki</creator><creator>UMETANI, Yoji</creator><general>The Robotics Society of Japan</general><scope>AAYXX</scope><scope>CITATION</scope></search><sort><creationdate>19930415</creationdate><title>Modeling of Collision Dynamics of Free-Floating Link Systems with Extended Inversed Inertia Tensor</title><author>YOSHIDA, Kazuya ; SASHIDA, Naoki ; UMETANI, Yoji</author></sort><facets><frbrtype>5</frbrtype><frbrgroupid>cdi_FETCH-LOGICAL-c1760-1e74976b84ebad941f67a93b1aa4cd0e189a31f25a28dfcde5650eecf8306de33</frbrgroupid><rsrctype>articles</rsrctype><prefilter>articles</prefilter><language>eng</language><creationdate>1993</creationdate><topic>Free-floating links</topic><topic>Impact dynamics</topic><topic>Inertia tensor</topic><topic>Space robot</topic><topic>Virtual mass</topic><toplevel>online_resources</toplevel><creatorcontrib>YOSHIDA, Kazuya</creatorcontrib><creatorcontrib>SASHIDA, Naoki</creatorcontrib><creatorcontrib>UMETANI, Yoji</creatorcontrib><collection>CrossRef</collection><jtitle>Journal of the Robotics Society of Japan</jtitle></facets><delivery><delcategory>Remote Search Resource</delcategory><fulltext>fulltext</fulltext></delivery><addata><au>YOSHIDA, Kazuya</au><au>SASHIDA, Naoki</au><au>UMETANI, Yoji</au><format>journal</format><genre>article</genre><ristype>JOUR</ristype><atitle>Modeling of Collision Dynamics of Free-Floating Link Systems with Extended Inversed Inertia Tensor</atitle><jtitle>Journal of the Robotics Society of Japan</jtitle><addtitle>JRSJ</addtitle><date>1993-04-15</date><risdate>1993</risdate><volume>11</volume><issue>3</issue><spage>410</spage><epage>418</epage><pages>410-418</pages><artnum>410</artnum><issn>0289-1824</issn><eissn>1884-7145</eissn><abstract>This paper presents a basic formulation of motion dynamics of free-floating link systems, to establish a basis of the collision dynamics. The authors propose a new concept named “Extended Inversed Inertia Tensor (Ex-IIT) ”, which is an extended version of the IIT for ground-based arms, and discuss the virtual mass concept. By means of the concepts, they formulate the collision problem focusing on a velocity relationship just before and after the collision without sensing the impact force, but considering the momentum conservation law. The validity of the formulation is confirmed by a simple free-floating experiment.</abstract><pub>The Robotics Society of Japan</pub><doi>10.7210/jrsj.11.410</doi><tpages>9</tpages><oa>free_for_read</oa></addata></record>
fulltext fulltext
identifier ISSN: 0289-1824
ispartof Journal of the Robotics Society of Japan, 1993/04/15, Vol.11(3), pp.410-418
issn 0289-1824
1884-7145
language eng
recordid cdi_crossref_citationtrail_10_7210_jrsj_11_410
source Elektronische Zeitschriftenbibliothek - Frei zugängliche E-Journals
subjects Free-floating links
Impact dynamics
Inertia tensor
Space robot
Virtual mass
title Modeling of Collision Dynamics of Free-Floating Link Systems with Extended Inversed Inertia Tensor
url https://sfx.bib-bvb.de/sfx_tum?ctx_ver=Z39.88-2004&ctx_enc=info:ofi/enc:UTF-8&ctx_tim=2025-01-23T04%3A55%3A55IST&url_ver=Z39.88-2004&url_ctx_fmt=infofi/fmt:kev:mtx:ctx&rfr_id=info:sid/primo.exlibrisgroup.com:primo3-Article-jstage_cross&rft_val_fmt=info:ofi/fmt:kev:mtx:journal&rft.genre=article&rft.atitle=Modeling%20of%20Collision%20Dynamics%20of%20Free-Floating%20Link%20Systems%20with%20Extended%20Inversed%20Inertia%20Tensor&rft.jtitle=Journal%20of%20the%20Robotics%20Society%20of%20Japan&rft.au=YOSHIDA,%20Kazuya&rft.date=1993-04-15&rft.volume=11&rft.issue=3&rft.spage=410&rft.epage=418&rft.pages=410-418&rft.artnum=410&rft.issn=0289-1824&rft.eissn=1884-7145&rft_id=info:doi/10.7210/jrsj.11.410&rft_dat=%3Cjstage_cross%3Earticle_jrsj1983_11_3_11_3_410_article_char_en%3C/jstage_cross%3E%3Curl%3E%3C/url%3E&disable_directlink=true&sfx.directlink=off&sfx.report_link=0&rft_id=info:oai/&rft_id=info:pmid/&rfr_iscdi=true