Subspace-oriented energy distribution for the Time Domain Passivity Approach
Subspace-oriented energy distribution for the Time Domain Passivity Approach
复制标题
时域无源方法的面向子空间的能量分布
DOI：
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发表时间：
2011
期刊：
影响因子：
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通讯作者：
C. Preusche
中科院分区：
文献类型：
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作者：
C. Ott;J. Artigas;C. Preusche
时域被动控制方法（TDPA）是保证机器人与环境被动交互的有力工具。TDPA不是建立固定的控制参数来保持系统在任何可能的环境中稳定，而是观察由于相互作用而产生的能量流，并在相互作用变得活跃的情况下应用耗散项。在机器人操作器中，被动控制器背后的原理需要关于如何在多个关节之间分配要耗散的能量的标准，并且必须根据应用的一般控制目标进行调整。本文提出了一种冗余度机械臂解耦子空间间耗散的分配方法，优先考虑零空间中的耗散。该方法允许保持被动性，同时避免在任务空间中定义的一般控制目标的干扰。因此，一般的控制目标，可以在某种程度上，以及从无源性的考虑解耦，从而可以实现一个保守性较低的控制器。该方法是持续的数值模拟。
The Time Domain Passivity Control Approach (TDPA) is a powerful tool to guarantee passive interaction between a robot and its environment. Rather than establishing fixed control parameters to keep the system stable in any possible environment, the TDPA observes the energy flow due to the interaction and applies a dissipative term in the case the interaction becomes active. In a robot manipulator the rationale behind the Passivity Controller requires a criterion on how to distribute the energy to be dissipated among the multiple joints and must be adjusted according to the general control goal of the application. This paper presents a method for distributing the dissipation between decoupled subspaces of a redundant manipulator, prioritizing dissipation in the null-space. The method allows to preserve passivity while avoiding disturbance of the general control goal defined in the task-space. Thus the general control goal can, to some extent, be as well decoupled from passivity considerations and thus a less conservative controller can be achieved. The approach is sustained with a numerical simulation.