Contribution to the modelling of impact with robotic systems

This paper discusses the problem of impact with robotic systems. The original method for the solution of impact is presented. The main idea is the replacement of impact with a singularity and hence the approach is called the IVSA (Impact-Via-Singularity-Analysis) Method. This goal is achieved by considering the obstacle as a unilateral constraint and introducing the new set of generalized coordinates so as to incorporate the constraint in the dynamic model. Using the IVSA Method the impact is not described by algebraic equations but by a reduced set of differential equations resulting directly from the initial dynamic model. The integration of dynamic equations over the impact points is thus possible. A numerical example is presented.