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Consistent impulse conditions in Lagrangian system dynamics

Published online by Cambridge University Press:  09 March 2009

M. Cotsaftis  and
C. Vibet
M. Cotsaftis
Affiliation:
UGRA/DPT CEN-FAR BP No 6, 92260ø Fontenay aux Roses (France).
C. Vibet
Affiliation:
Laboratoire de Robotique Industrielle, 22 Allée J. Rostand 910ø11 Evry (France).
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Summary

The general problem of including impulse effects in Lagrangian dynamics is discussed. A self-consistent method is developed, and a block-diagram representation, including initial conditions, is introduced that displays the feature of the method. Example of a collision of two dissimilar robots is provided for illustration.

Keywords

Impulse conditionsLagrangian systemsInitial valueDynamics
Type
Research Article
Information
Robotica , Volume 6 , Issue 4 , October 1988 , pp. 339 - 341
Copyright
Copyright © Cambridge University Press 1988

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References

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5.Stolen, Ø., “On the similtude of manipulators dynamics, with regard to a discrete-time adaptive control algorithm” Univ. of Bristol, Report No. 83/14 (12, 1983).Google Scholar
6.Cotsaftis, M. and Vibet, C., “Impulse conditions and control laws derivation from Lagrange formalism” (Submitted to Advanced Robotics, 1987).Google Scholar