AI 中文总结
针对舰载机械手受波浪基座运动影响问题，提出基于扭矩水平优化控制框架，结合任务空间逆动力学和误差状态卡尔曼滤波器，经仿真与实验验证，有效降低跟踪误差，实现动态销孔插入，提升操作成功率并减少接触力。
AI 中文摘要
在海洋环境中运行的舰载机械手会受到随机波浪引起的基座运动影响，导致运动干扰和动态耦合，降低轨迹跟踪精度并使安全的、频繁接触的操作复杂化。本文提出了一种基于扭矩水平优化的控制框架，将高精度轨迹跟踪与舰载机械手的任务空间阻抗相结合。该控制器通过任务空间逆动力学（TSID）制定，并通过二次规划求解，以明确补偿基座运动引入的动态耦合。为实现精确的前馈补偿，开发了一种误差状态卡尔曼滤波器（ESKF），通过融合惯性测量与末端执行器位姿反馈来估计基座状态。该框架在安装在6自由度Stewart平台上的7自由度机械手的仿真和实际实验中得到验证。与最佳基线相比，该方法将实际末端执行器位置跟踪误差降低了超过25.7%。此外，该控制器能够在基座运动下以1毫米的间隙进行动态销孔插入，提高成功率并将平均接触力降低45%，证明了在频繁接触环境中的精确和柔顺操作。
英文摘要
Ship-borne manipulators operating in maritime environments are subject to stochastic wave-induced base motions that introduce kinematic disturbances and dynamic coupling, degrading trajectory tracking accuracy and complicating safe, contact-rich manipulation. This paper proposes a torque-level optimization-based control framework that integrates high-precision trajectory tracking with task-space impedance for ship-borne manipulators. The controller is formulated using task-space inverse dynamics (TSID) and solved via quadratic programming to explicitly compensate for the dynamic coupling introduced by base motion. To enable accurate feedforward compensation, an error-state Kalman filter (ESKF) is developed to estimate the base state by fusing inertial measurements with end-effector pose feedback. The framework is validated in simulation and real-world experiments using a 7-DOF manipulator mounted on a 6-DOF Stewart platform. The proposed method reduces real-world end-effector position tracking error by over 25.7% compared with the best baseline. Furthermore, the controller enables dynamic peg-in-hole insertion with 1~mm clearance under base motion, increasing the success rate while reducing average contact forces by 45%, demonstrating precise and compliant manipulation in contact-rich environments.
