A Projected Inverse Dynamics Approach for Multi-Arm Cartesian Impedance Control
A Projected Inverse Dynamics Approach for Multi-Arm Cartesian Impedance Control
复制标题
多臂笛卡尔阻抗控制的投影逆动力学方法
DOI：
10.1109/icra.2018.8461202
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发表时间：
2018
期刊：
影响因子：
--
通讯作者：
M. Mistry
中科院分区：
文献类型：
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作者：
Hsiu;Joshua Smith;Keyhan Kouhkiloui Babarahmati;Niels Dehio;M. Mistry
我们提出了一种基于模型的控制框架，用于多臂操纵受外部干扰的刚性物体。该控制框架基于投影逆动力学，将控制律分解为约束子空间和无约束子空间。无约束组件完成运动任务与期望的6自由度笛卡尔阻抗行为对抗外部干扰。同时，约束分量通过优化约束子空间内的接触力来加强接触和摩擦约束。在接触点不使用力/扭矩传感器的情况下，外部干扰得到明确补偿。在一个操纵刚性物体的双臂平台上，对该方法进行了评估，同时应对未知物体动力学和人类交互。
We propose a model-based control framework for multi-arm manipulation of a rigid object subject to external disturbances. The control framework, based on projected inverse dynamics, decomposes the control law into constrained and unconstrained subspaces. Unconstrained components accomplish the motion task with a desired 6-DOF Cartesian impedance behaviour against external disturbances. Meanwhile, the constrained component enforces contact and friction constraints by optimising for contact forces within the constrained subspace. External disturbances are explicitly compensated for without using force/torque sensors at the contact points. The approach is evaluated on a dual-arm platform manipulating a rigid object while coping with unknown object dynamics and human interaction.