论文标题
一种有效的封闭形式的方法，用于最佳杂交力量控制
An Efficient Closed-Form Method for Optimal Hybrid Force-Velocity Control
论文作者
论文摘要
本文得出了一种用于计算混合力速度控制的封闭形式的方法。关键思想是最大化机械系统的运动学调节，其中包括机器人，自由对象，刚性环境和触点约束。该方法已经完成，因为当存在解决方案时，它总是会产生最佳/接近最佳解决方案。它是有效的，因为它处于封闭状态，避免对以前的工作进行迭代搜索。我们测试了78,000个随机生成的测试用例的方法。该方法的表现超过了我们以前的基于搜索的技术的速度快7到40倍，同时始终如一地生产出更好的解决方案，这是对运动学奇异性的鲁棒性。我们还测试了几个代表性操纵实验中的方法。
This paper derives a closed-form method for computing hybrid force-velocity control. The key idea is to maximize the kinematic conditioning of the mechanical system, which includes a robot, free objects, a rigid environment and contact constraints. The method is complete, in that it always produces an optimal/near optimal solution when a solution exists. It is efficient, since it is in closed form, avoiding the iterative search of previous work. We test the method on 78,000 randomly generated test cases. The method outperforms our previous search-based technique by being from 7 to 40 times faster, while consistently producing better solutions in the sense of robustness to kinematic singularity. We also test the method in several representative manipulation experiments.
