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Consistent impulse conditions in Lagrangian system dynamics
M. Cotsaftis, C. Vibet
Journal:

Robotica / Volume 6 / Issue 4 / October 1988

Published online by Cambridge University Press:

09 March 2009, pp. 339-341
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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.