平滑连接的先发制人冲击减小与接触阻抗控制
Smoothly Connected Preemptive Impact Reduction and Contact Impedance Control
AI总结：
针对机器人强烈冲击力的负面影响及冲击减小与接触阻抗控制难以无缝过渡的问题，提出串联组合阻抗控制框架，通过先发制人运动降低冲击力并平滑过渡，且利用虚拟粘性力减少传感器反射率影响。
摘要：
本研究提出了新颖的控制方法，通过先发制人的运动来降低冲击力，并平滑过渡到传统的接触阻抗控制。这些提出的技术分别适用于基于力控制的机器人和基于位置/速度控制的机器人。强烈的冲击力对多种机器人任务产生负面影响。近年来，通过使用接近传感器扩展传统接触阻抗控制的先发制人冲击减小技术已被研究。然而，从冲击减小到接触阻抗控制的无缝过渡尚未实现。所提出的方法利用串联组合阻抗控制框架来解决这一问题。由于参数设计被划分为冲击减小和接触阻抗控制，因此可以将先发制人冲击减小特性添加到已实现的阻抗控制器中。在过渡过程中不存在不期望的接触力。此外，尽管先发制人冲击减小采用了粗糙的光学接近传感器，但利用虚拟粘性力最小化了反射率的影响。分析和真实世界实验证实了这些优势。
英文摘要：
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.
机构、总结、中文摘要均由AI分析而来，可能存在错误，请以论文正文为准。
