Publication

Hanyang University HumanRobotics Lab

Domestic Journal
반발계수의 모델링과 동적 시스템의 충돌분석으로의 적용
Journal
로봇학회논문지
Vol
Vol. 10, No. 4
Page
pp. 1-13
Author
류환택, 최재연, 권영현, 이병주
Year
2015
Date
2015
File
반발계수의 모델링과 동적 시스템의 충돌분석으로의 적용.pdf (794.1K) 0회 다운로드 DATE : 2020-10-16 22:30:16
Abstract: In classical dynamics, the coefficient of restitution is one of variables to estimate the amount of impulse. In general, we have considered the coefficient of restitution as a constant value. However, coefficient of restitution (COR) is the function of contact material and colliding velocity. Furthermore, COR is also a function of contact area. Thus, without considering the variable characteristic of COR, the actual motion of an object just after impact is not the same as we expect. A general COR model is proposed in this work and its effectiveness is verified through a cart impact experiment and its result is applied to simulation of a ball impact problem. A three-degree-of-freedom manipulator is employed as a test-bed.