论文标题
平稳连接的先发制人冲击减少和接触阻抗控制
Smoothly Connected Preemptive Impact Reduction and Contact Impedance Control
论文作者
论文摘要
这项研究提出了新的控制方法，该方法通过先发制人的运动来降低影响力，并顺利过渡到常规的接触阻抗控制。这些建议的技术分别用于基于力控制的机器人和基于位置/速度控制的机器人。强大的影响力对多个机器人任务产生负面影响。最近，已经检查了通过使用接近传感器扩大常规接触阻抗控制的先发制人冲击技术。但是，尚未实现从减少冲击到接触阻抗控制的无缝过渡。提出的方法利用串行的组合阻抗控制框架来解决此问题。可以将降低降低功能添加到已经实现的阻抗控制器中，因为参数设计被分为减少冲击和接触阻抗控制。过渡期间没有不良的接触力。此外，即使先发制人的降低采用了粗略的光学接近传感器，但使用虚拟粘性力将反射率的影响最小化。分析和现实世界实验证实了这些好处。
This study proposes novel control methods that lower impact force by preemptive movement and smoothly transition to conventional contact impedance control. These suggested techniques are for force control-based robots and position/velocity control-based robots, respectively. Strong impact forces have a negative influence on multiple robotic tasks. Recently, preemptive impact reduction techniques that expand conventional contact impedance control by using proximity sensors have been examined. However, a seamless transition from impact reduction to contact impedance control has not yet been accomplished. The proposed methods utilize a serial combined impedance control framework to solve this problem. The preemptive impact reduction feature can be added to the already implemented impedance controller because the parameter design is divided into impact reduction and contact impedance control. There is no undesirable contact force during the transition. Furthermore, even though the preemptive impact reduction employs a crude optical proximity sensor, the influence of reflectance is minimized using a virtual viscous force. Analyses and real-world experiments confirm these benefits.
