端口-哈密尔顿框架下的可变静止长度阻抗抓取策略
A variable rest length impedance grasping strategy in the port-Hamiltonian framework
摘要：
本文研究了一类标准力学系统在端口-哈密顿框架下的阻抗抓取策略。我们嵌入了现有阻抗抓取策略的弹簧的可变静止长度，以实现稳定的非接触到接触过渡和期望的抓取力。我们利用标准力学系统的端口哈密顿结构。首先，我们利用一个变量的变化，将端口哈密顿系统转换成一个恒定的质量惯性矩阵。然后，我们通过具有可变静止长度的\emph{virtual spring}实现阻抗抓取控制。由虚拟弹簧施加的力导致阻抗抓取控制器中的耗散项，这是获得更平滑的非接触到接触过渡所需要的。仿真和实验结果，以激励我们的结果。
英文摘要：
This work is devoted to an impedance grasping strategy for a class of standard mechanical systems in the port-Hamiltonian framework. We embed a variable rest-length of the springs of the existing impedance grasping strategy in order to achieve a stable non-contact to contact transition, and a desired grasping force. We utilize the port-Hamiltonian structure of standard mechanical systems. First, we utilize a change of variables that transforms the port-Hamiltonian system into one with a constant mass-inertia matrix. We then achieve impedance grasping control via a \emph{virtual spring} with a variable rest-length. The force that is exerted by the virtual spring leads to a dissipation term in the impedance grasping controller, which is needed to obtain a smoother non-contact to contact transition. Simulations and experimental results are given in order to motivate our results.
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