A Simple Peak Impact Force Estimation Method for a Multi-DOF Manipulator with Joint Servo

This paper proposed a simple estimation method of peak impact force by a multi-D.O.F manipulator controlled by a joint servo on collision with a human or an environment. In the proposed method, an impact model of the manipulator including both compliances of joint servo and a soft material on a link is described as a 1-D.O.F impact model. Taylor expansion is introduced to more exactly estimate the peak impact force using the time that the value of time-derivative of the impact force equals to 0. As a result, the peak impact force is described as an algebraic function and can be easily and quickly estimated. Simple impact simulations using a 2-D.O.F manipulator were conducted to confirm the effectiveness of the proposed method. From the simulation results, it was confirmed that the estimated value of the peak impact force was in accordance with a peak point of a impact force calculated by numerical method.