Impact hammers, also known as rock breakers, rockbreaking manipulators, Received: 31 December 2021 Accepted: 24 January 2022 rockbreaking hammers, or pedestalmounted breaker booms, consist of an hydraulic arm Published: 28 January 2022 with 4 degrees of freedom (rotation, lift, tilt, and breaker joints) powered with a hydraulic impact hammer as an .