Abstract
In general, manipulators are not assumed to collide to other object with impact. But manipulators can do a lot of operations by using impact. Especially, it is effective in the case of large resistant force. On the other hand, there is danger of destroying the manipulator by the impact force. For this problem, we proposed impact manipulation without impact force transmission, which is verified by calculation. We also proposed to consider work on operations as an index to measure achievement of the operation. We verified the relation between the velocity of the manipulator and the work on the operation by some experiments. Therefore, impact manipulation was achieved.
