发表机构
College of Information Science and Technology, Eastern Institute of Technology; Zhejiang Key Laboratory of Industrial Intelligence and Digital Twin, Eastern Institute of Technology（信息科学与技术学院，东方理工学院; 浙江省工业智能与数字孪生重点实验室，东方理工学院）
机构由 AI 辅助整理，请以论文原文为准。AI 中文总结
该论文提出与机器人无关的柔顺控制框架，通过插件架构分离控制器与控制律，标准化接口支持多种控制公式。其参考笛卡尔阻抗控制器可在线更新柔顺方向，实验和仿真验证了在不同操纵器上的任务相关柔顺性及可移植性。
AI 中文摘要
本文提出了一种与机器人无关的柔顺控制框架，通过标准化关节和笛卡尔命令接口扩展了ROS控制生态系统。它解决了现有控制软件的一个关键限制，即缺乏用于在不同操纵器上实现柔顺控制算法的可重用基础设施，同时保持与高级应用程序的通用接口。基于插件的架构将控制器基础设施与控制律实现分离。通用包装器使用现有的硬件抽象与不同的操纵器接口，而运行时加载的插件仅实现控制律。命令接口支持关节和笛卡尔空间参考、刚度和阻尼增益、零空间目标和前馈项，实现可变阻抗和多种柔顺控制公式。机器人运动学和动力学使用Pinocchio从URDF模型计算得出。该架构促进了柔顺控制策略的开发，并使相同的实现能够在不同平台上不变地部署。完整框架包括参考控制器、高级任务接口和各种操纵器的示例配置已开源。参考笛卡尔阻抗控制器通过旋转平移和旋转刚度及阻尼来支持任务相关的柔顺性，允许主要柔顺方向根据局部任务几何形状在线更新，而不是固定在机器人基座或TCP框架中。实际机器人实验证明了在接触丰富的操纵中任务相关的柔顺性，而仿真显示了跨具有不同运动学和动力学特性的操纵器的可移植性。
英文摘要
The paper proposes a robot-agnostic compliant-control framework that extends the ROS control ecosystem with standardized joint and Cartesian command interfaces. It addresses a key limitation of existing control software: no reusable infrastructure for implementing compliant-control algorithms across different manipulators while preserving a common interface to higher-level applications. A plugin-based architecture separates controller infrastructure from control-law implementation. Generic wrappers use existing hardware abstractions to interface with different manipulators, while runtime-loaded plugins implement only the control law. Command interfaces support joint- and Cartesian-space references, stiffness and damping gains, nullspace targets, and feedforward terms, enabling variable impedance and diverse compliant-control formulations. Robot kinematics and dynamics are computed from URDF models using Pinocchio. The architecture facilitates the development of compliant-control strategies and enables the same implementation to be deployed across platforms unchanged. The complete framework, including reference controllers, high-level task interfaces, and example configurations for various manipulators, is open-sourced. The reference Cartesian impedance controller supports task-dependent compliance by rotating translational and rotational stiffness and damping, allowing the principal compliance directions to be updated online according to local task geometry rather than remaining fixed in the robot base or TCP frame. This is particularly important in contact-rich manipulation, where the desired directions of motion, constraints, and compliance directions may vary throughout task execution. Real-robot experiments demonstrate task-dependent compliance in contact-rich manipulation, while simulations show portability across manipulators with distinct kinematic and dynamic characteristics.
Comments8 pages, 7 figures, 2 tables. Paper page: https://smihael.github.io/plug-play-comply/
