论文标题
通过环境接触进行高付额的入场控制手动指导
Towards High-Payload Admittance Control for Manual Guidance with Environmental Contact
论文作者
论文摘要
力控制可以实践教学和身体协作，并有可能提高人体工程学和自动化的灵活性。建立的方法，用于设计合规性，阻抗控制和\ rev {Collision响应}可以实现自由空间的稳定性，并在轻巧的有效载荷机器人上实现可接受的峰值接触力。将协作扩展到更高的有效载荷可以允许新的应用程序，但是由于更明显的有效载荷动态和使用更高付费工业机器人的使用而引入了挑战。 为了通过接触实现高付费手动指导，本文提出并验证了新的新机器人设计方法：通过阻尼反馈进行扩展标准入学控制，将兼容的结构集成到环境中，并提出了允许连续入学控制的接触响应方法。将这些方法在自由空间稳定性，接触稳定性和峰接触力方面进行比较。然后，应用所得的方法以实现16公斤有效载荷（孔和插槽组件的钉）和50公斤有效载荷的自由空间共同操作的两个接触任务。
Force control enables hands-on teaching and physical collaboration, with the potential to improve ergonomics and flexibility of automation. Established methods for the design of compliance, impedance control, and \rev{collision response} can achieve free-space stability and acceptable peak contact force on lightweight, lower payload robots. Scaling collaboration to higher payloads can allow new applications, but introduces challenges due to the more significant payload dynamics and the use of higher-payload industrial robots. To achieve high-payload manual guidance with contact, this paper proposes and validates new mechatronic design methods: standard admittance control is extended with damping feedback, compliant structures are integrated to the environment, and a contact response method which allows continuous admittance control is proposed. These methods are compared with respect to free-space stability, contact stability, and peak contact force. The resulting methods are then applied to realize two contact-rich tasks on a 16 kg payload (peg in hole and slot assembly) and free-space co-manipulation of a 50 kg payload.
