机器人系统的非光滑碰撞方向 (NSID)
The Nonsmooth Impact Direction (NSID) of Robotic Systems
- Automation and Control Institute, TU Wien（维也纳工业大学自动化与控制研究所）
- Institute of Robotics and Mechatronics, German Aerospace Center (DLR)（德国航空航天中心机器人与机电一体化研究所）
机构由 AI 辅助整理，请以论文原文为准。
AI总结：
研究机器人系统的非光滑碰撞方向 (NSID)，通过系统分析碰撞前后速度，表明其为机器人碰撞特征方向且独立于接触特性，适用于多种机器人系统，理论分析与实验验证为相关规划和控制算法奠定基础。
AI中文摘要：
刚性连杆机器人与刚性环境的碰撞通常被建模为瞬时事件。在此理想化情况下，冲击力变为冲量，系统速度不连续。本文中，我们系统地分析碰撞前后的速度，重点关注我们所称的非光滑碰撞方向 (NSID)。我们表明它是机器人碰撞的一个特征方向，很大程度上独立于接触特性。结果直接适用于一大类具有刚性连杆的可回驱机器人系统。我们探讨了具有非弹性和柔性关节、无约束以及受约束系统的特殊性。此外，我们表明相对于 NSID 的接近方向决定了摩擦、非弹性碰撞中冲量力的方向。这项工作的综合理论分析得到实验验证，可为未来各种机器人碰撞应用的规划和控制算法奠定基础，包括在滑面上的人形机器人运动或重复锤击。
英文摘要：
Collisions of rigid-link robots and rigid environments are often modeled as instantaneous events. Under this idealization, the impact forces become impulsive and the system velocities nonsmooth. In this work, we systematically analyze pre- and post-impact velocities focusing on what we refer to as the nonsmooth impact direction (NSID). We show that it is a characteristic direction of a robotic impact and largely independent of contact properties. The results are directly applicable to large classes of backdrivable robotic systems with rigid links. We address particularities of systems with nonelastic and flexible joints, unconstrained as well as constrained systems. Further, we show that the approach direction w.r.t the NSID sets the direction of the impulsive force in frictional, inelastic impacts. The comprehensive theoretical analysis of this work supported by an experimental validation may serve as a foundation for future planning and control algorithms for various robotic impact applications. These can include humanoid locomotion on a slippery surface or repetitive hammering.
