Based on the equivalent mass concept, two methods for building the discrete collision dynamics model and the continuous collision dynamics model for different operating environments are proposed, and the collision effects are also analyzed. First, equivalent mass is derived from the dynamics equation and the energy equation. On this basis, both discrete collision dynamics model and continuous collision dynamics model are built for rigid and flexible environment respectively. Thereafter, a standard is also proposed to choose one model which can simulate the actual collision process more precisely among seven continuous models. Finally, taking the typical 7-dof space manipulator as an example to carry out simulation experiment, the comparison of two methods′ results verifies the correctness.

%U http://www.yhxb.org.cn/EN/10.3873/j.issn.1000-1328.2015.12.003