论文标题
关节机器人的混合位置/力控制器
A Hybrid Position/Force Controller for Joint Robots
论文作者
论文摘要
在本文中，我们提出了用于操作关节机器人的混合位置/力控制器。混合控制器有两个目标 - 运动跟踪和力量调节。只要这两个目标不是相互排斥的，就可以以某种方式将其解耦。在这项工作中，我们利用从关节空间到任务空间的平稳且可逆的映射，将两个控制目标和设计控制器分开。任务空间中的传统运动控制器用于运动控制，而力控制器的设计是通过操纵所需的轨迹以间接调节力的轨迹。提出了两个案例研究 - 轮廓跟踪/抛光表面和用两个机器人臂抓取盒子，以显示混合控制器的功效，并对物理发动机进行了模拟以验证所提出方法的功效。
In this paper, we present a hybrid position/force controller for operating joint robots. The hybrid controller has two goals -- motion tracking and force regulating. As long as these two goals are not mutually exclusive, they can be decoupled in some way. In this work, we make use of the smooth and invertible mapping from joint space to task space to decouple the two control goals and design controllers separately. The traditional motion controller in task space is used for motion control, while the force controller is designed through manipulating the desired trajectory to regulate the force indirectly. Two case studies -- contour tracking/polishing surfaces and grabbing boxes with two robotic arms -- are presented to show the efficacy of the hybrid controller, and simulations with physics engines are carried out to validate the efficacy of the proposed method.
