Predicting Impact-Induced Joint Velocity Jumps on Kinematic-Controlled Manipulator

In order to enable on-purpose robotic impact tasks, predicting joint-velocity jumps is essential enforce controller feasibility and hardware integrity. We observe a considerable prediction error of commonly-used approach in robotics compared against 250 benchmark experiments with the Panda manipulator. reduce average by 81.98% as follows: First, we focus on task-space equations without inverting ill-conditioned joint-space inertia matrix. Second, before event, compute equivalent inertial properties end-effector tip considering that high-gains (stiff) kinematic-controlled manipulator behaves like composite-rigid body.