Reinterpretation of the Non-Slippage Impact Direction for Elastic Contact Transitions

Abstract

Performing impacts at a target without sliding is essential for robot manipulation tasks, such as stamping. Recently, a model-based solution for this targeted non- slippage impact problem has been proposed and validated in experiments with a torque-controlled robot. For fully inelastic impacts, the goal is obtained if the approach direction of the impact target aligns with its unique non-slippage impact direction. In this work, the non-slippage impact direction is reinterpreted for elastic impacts. We show that it is the unique approach direction of a target, which is reversed by the impact. Moreover, we discuss possible applications to tasks such as hammering.