Impact plays an important role in robotic manipulations. As robotic manipulators interact with their environment or objects, the motion of the system varies discontinuously and large impulsive forces are created at the surface of contact and are transmitted through the system, particularly when the motion of the manipulator is fast. With the demands for more precise and faster performance of robotic manipulators and minimizing potential damage of the system, being able to better simulate and control impact has become essential. In this paper, the impact dynamics describing simultaneous collisions of multi-link robotics with frictional impulses are investigated. The solutions for the after-impact velocities and impulses are provided in a closed form which can be easily employed for simulating robotic system contact states. The results are also important for the motion planning and impact control of robotic systems with contact tasks.

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