Modeling and Simulation of Contact and Friction Forces in Flexible Robotic Arms

This article studies multiple impacts in two-dimensional open-loop robotic systems made up of n elastic links connected by rotational joints. The equations of dynamic motion are derived using the recursive Gibbs-Appell algorithm, and contact-impact phenomena are modeled in a systematic manner. Transverse vibrations of the links are described using Timoshenko beam theory, and the model accounts for both structural damping and air damping to improve accuracy. The joints are assumed to be frictionless and without play.