Research paper
A continuous model of robot contact transitions
A manipulator–environment model represents entry into and release from frictionless point contact without discontinuous states. A two-axis simulation and comparisons with previously published experiments examine impact-force behavior.
Reviewed 2026-11-05 · Source and bibliography checked
- Original title
- Robotic Manipulator Collisions: Modeling and Simulation
- Publisher
- ASME International
- Authors
- J. K. Mills, C. V. Nguyen
- DOI
- 10.1115/1.2897737
- Publication date
- 1992-12-01
- Source language
- en
- Source country
- US
- Edition
- Journal of Dynamic Systems, Measurement, and Control
- Access
- Public bibliography and abstract
- Publication status
- Published
Source overview
A manipulator–environment model represents entry into and release from frictionless point contact without discontinuous states. A two-axis simulation and comparisons with previously published experiments examine impact-force behavior.
Use and review
The reviewed evidence is numerical or simulation based. Physical robot behavior, perception failures and implementation timing require separate validation.
Sources & editions
Robotic Manipulator Collisions: Modeling and Simulation ↗
ASME International · Journal of Dynamic Systems, Measurement, and Control
Publisher-deposited Crossref abstract/metadata checked. Own contribution is model/simulation; comparison uses experiments already reported in literature. Landing403; full text not acquired.