Wenli Yao;Peng li;Yongsheng Ren;
<正>Kinematics and variational principle for the multi-freedom Manipulators with non-fixed collision are studied.Uncertainty of the collision points increases the difficulties on dealing with collision recognition and calculating impulse.Fig.1 shows two possible cases of collision between rod i and rod j.The rod i and rod j belong to the system of the manipulators,which may contact and collide.According to the geometrical feature of the given triangles,a relatively simple method to test when and where the contact and impact occur is given.
Calculus of Variations for the Multi-freedom Manipulators with Non-fixed Collision;
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