Lumped Parameters Robot Models to Study Impact Dynamics

In the field of collaborative robotics, safety standards are crucial. Collision prevention, in collaborative scenarios, requires a targeted examination of impact dynamics. This paper addresses collision challenges by introducing simplified lumped parameter models that are not widespread in the robotic field. The proposed method is simpler than traditional methods (Newton-Euler or Lagrange formulations), but maintains accuracy in the prediction of the dynamic quantities relevant to impacts (linear momentum and kinetic energy). The study chiefly deals with 2D robots, including the case of off-center centers of mass (CoM), but some hints about the modeling of 3D robots are given. MATLAB simulations and experimental tests with a robot confirm the validity of the proposed method.