Elastic robotic system with analysis of collision and jamming

Abstract

This work includes modelling and analysis of collision and jamming as really present phenomena in the realization of the contact of elastic robotic mechanism with the environment. Jamming and collision is implicated in complex robotic system who's kinematic is created (direct and inverse kinematics) as well as the process of synthesis of trajectory, and then a dynamic model under the influence of dynamic environment (if exists) with all elements of conjugation presented completely as well as with dynamic effects of present forces defined in classical form. Simulation experiments were performed on “two-degree” planar mechanism of robot applying positional law of controlling local feedback. Based on obtained simulation experiments it is shown how much complexity, how much flexibility of robotic system or dynamic of the environment, inevitable collision and jamming with the presence of friction affect to the total dynamic of the system.