Consistent impulse conditions in Lagrangian system dynamics
- 1 October 1988
- journal article
- research article
- Published by Cambridge University Press (CUP) in Robotica
- Vol. 6 (4) , 339-341
- https://doi.org/10.1017/s0263574700004719
Abstract
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
This publication has 3 references indexed in Scilit:
- Initial conditions and differential equationsSIMULATION, 1987
- Collision Effects on Two Coordinating Robots in Assembly and the Effect MinimizationIEEE Transactions on Systems, Man, and Cybernetics, 1987
- Dynamics of Systems of Rigid BodiesPublished by Springer Nature ,1977