In classical dynamics, the coefficient of restitution is one of variables to estimate the amount of impulse. In general, we have considered the coefficient of restitution as a constant value. However, coefficient of restitution (COR) is the function of contact material and colliding velocity. Furthermore, COR is also a function of contact area. Thus, without considering the variable characteristic of COR, the actual motion of an object just after impact is not the same as we expect. A general COR model is proposed in this work and its effectiveness is verified through a cart impact experiment and its result is applied to simulation of a ball impact problem. A three-degree-of-freedom manipulator is employed as a test-bed.

1. 서 론
2. 반발계수의 모델링과 충돌면적이 반발계수에 미치는 영향의 분석
3. 충돌 실험 및 시뮬레이션으로의 적용
4. 매니퓰레이터-카트 간의 충돌 실험
6. 결론
부록: 공 움직임에 대한 동역학
Reference

• 류환택(Department of Intelligent Robot, Hanyang University) | Hwan-Taek Ryu
• 최재연(Korea Institute of Robot and Convergence, Gyeongbuk) | Jae-Yeon Choi
• 권영현(Department of Applied Physics, Hanyang University) | Young-Hun Kwon
• 이병주(Department of Electronic System Engineering, Hanyang University, Ansan, Korea) | Byung-Ju Yi Corresponding Author