{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2022,4,4]],"date-time":"2022-04-04T04:45:37Z","timestamp":1649047537856},"reference-count":17,"publisher":"Cambridge University Press (CUP)","issue":"5","license":[{"start":{"date-parts":[[2009,3,9]],"date-time":"2009-03-09T00:00:00Z","timestamp":1236556800000},"content-version":"unspecified","delay-in-days":5668,"URL":"https:\/\/www.cambridge.org\/core\/terms"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Robotica"],"published-print":{"date-parts":[[1993,9]]},"abstract":"<jats:title>SUMMARY<\/jats:title><jats:p>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.<\/jats:p>","DOI":"10.1017\/s0263574700016994","type":"journal-article","created":{"date-parts":[[2009,3,10]],"date-time":"2009-03-10T09:14:58Z","timestamp":1236676498000},"page":"445-452","source":"Crossref","is-referenced-by-count":2,"title":["Contribution to the modelling of impact with robotic systems"],"prefix":"10.1017","volume":"11","author":[{"given":"Vojin","family":"Drenovac","sequence":"first","affiliation":[]},{"given":"Veljko","family":"Potkonjak","sequence":"additional","affiliation":[]}],"member":"56","published-online":{"date-parts":[[2009,3,9]]},"reference":[{"key":"S0263574700016994_ref004","doi-asserted-by":"publisher","DOI":"10.1017\/S0263574700010602"},{"key":"S0263574700016994_ref008","first-page":"185","article-title":"Generation of Equations of Motion of Multibody Systems Supported by a Computer","volume":"46","author":"Schiehlen","year":"1977","journal-title":"Ingenieur-Archiv"},{"key":"S0263574700016994_ref003","doi-asserted-by":"publisher","DOI":"10.1002\/rob.4620030309"},{"key":"S0263574700016994_ref016","first-page":"306","article-title":"A Contribution to the Analysis of Impact in Multibody Systems","volume":"5","author":"Drenovac","year":"1989","journal-title":"Z. Angew. Math. and Mech."},{"key":"S0263574700016994_ref011","first-page":"147","article-title":"On System of Differential Equations Containing Parameters","volume":"27","author":"Tichonow","year":"1950","journal-title":"Mat. sb."},{"key":"S0263574700016994_ref006","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-642-81854-7"},{"key":"S0263574700016994_ref001","unstructured":"1. Kir\u0107anski M. , \u201cContribution to the Path-Planning of Redundant Robots Ph.D. Thesis (Faculty of Electrical Engineering, Belgrade, 1985)."},{"key":"S0263574700016994_ref012","first-page":"301","article-title":"Nonlinear Oscillations in Multibody Systems","author":"Schiehlen","year":"1981","journal-title":"Proc. of the IXth ICNO, Kiev"},{"key":"S0263574700016994_ref002","doi-asserted-by":"publisher","DOI":"10.1177\/027836498600500106"},{"key":"S0263574700016994_ref005","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-642-82204-9"},{"key":"S0263574700016994_ref010","first-page":"193","article-title":"On the Dependence of the Solution of Differential Equations on Small Parameters","volume":"22","author":"Tichonow","year":"1948","journal-title":"Mat. sb."},{"key":"S0263574700016994_ref013","doi-asserted-by":"publisher","DOI":"10.1016\/0378-4754(87)90076-0"},{"key":"S0263574700016994_ref014","unstructured":"14. Drenovac V. , \u201cA Method for the Numerical Integration of Equations of Motion of Singular Multibody Systems (in German)\u201c Ph.D. Thesis, (University Stuttgart, 1985)."},{"key":"S0263574700016994_ref015","doi-asserted-by":"publisher","DOI":"10.1007\/978-1-4757-1693-1"},{"key":"S0263574700016994_ref017","article-title":"A Contribution to the Computation of Impact in Robotic Systems","volume":"73","author":"Drenovac","year":"1993","journal-title":"Z. Angew. Math. and Mech."},{"key":"S0263574700016994_ref007","volume-title":"Robot Manipulators","author":"Paul","year":"1981"},{"key":"S0263574700016994_ref009","first-page":"575","article-title":"System of Differential Equations Containing Small Parameters at Derivatives","volume":"31","author":"Tichonow","year":"1952","journal-title":"Mat. sb."}],"container-title":["Robotica"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.cambridge.org\/core\/services\/aop-cambridge-core\/content\/view\/S0263574700016994","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2019,5,15]],"date-time":"2019-05-15T17:54:58Z","timestamp":1557942898000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.cambridge.org\/core\/product\/identifier\/S0263574700016994\/type\/journal_article"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[1993,9]]},"references-count":17,"journal-issue":{"issue":"5","published-print":{"date-parts":[[1993,9]]}},"alternative-id":["S0263574700016994"],"URL":"https:\/\/doi.org\/10.1017\/s0263574700016994","relation":{},"ISSN":["0263-5747","1469-8668"],"issn-type":[{"value":"0263-5747","type":"print"},{"value":"1469-8668","type":"electronic"}],"subject":[],"published":{"date-parts":[[1993,9]]}}}