论文标题
在非平稳的表面上识别合规接触参数和入学力调制
Identification of Compliant Contact Parameters and Admittance Force Modulation on a Non-stationary Compliant Surface
论文作者
论文摘要
尽管已经对机器人操纵器进行了自主控制已有数十年的研究，但由于缺乏安全性和性能保证，它们并不常用于安全至关重要的应用中 - 其中许多是关于调节相互作用力的。本文提出了一种机械探测策略，用于估计合规环境的环境阻抗参数，独立的操纵器控制器设计和配置。参数估计值用于基于位置的自适应力控制器，以控制兼容，固定和非平稳环境中的相互作用力。这种方法针对工作空间受到限制和非平稳，力控制对于任务成功至关重要的应用程序。这些应用包括手术任务，涉及操纵合规，精致，移动的组织。结果显示快速参数估计和成功的力调制，以补偿运动。
Although autonomous control of robotic manipulators has been studied for several decades, they are not commonly used in safety-critical applications due to lack of safety and performance guarantees - many of them concerning the modulation of interaction forces. This paper presents a mechanical probing strategy for estimating the environmental impedance parameters of compliant environments, independent a manipulator's controller design, and configuration. The parameter estimates are used in a position-based adaptive force controller to enable control of interaction forces in compliant, stationary, and non-stationary environments. This approach is targeted for applications where the workspace is constrained and non-stationary, and where force control is critical to task success. These applications include surgical tasks involving manipulation of compliant, delicate, moving tissues. Results show fast parameter estimation and successful force modulation that compensates for motion.
