The Determination of the Velocities after Impact for the Constrained Bar Problem

A simple mathematical model for a constrained robotic manipulator is investigated. Besides the fact that this model is relatively simple, all the features present in more complex problems are similar to the ones analyzed here. The fully plastic impact is considered in this paper. Expressions for the velocities of the colliding bodies after impact are developed. These expressions are important in the numerical integration of the governing equations of motion when one must exchange the set of unconstrained equations for the set of constrained equation. The theory presented in this work can be applied to problems in which robots have to follow some prescribed patterns or trajectories when in contact with the environment. It can also de applied to problems in which robotic manipulators must handle payloads