A general contact model for dynamically-decoupled force/motion control
A general contact model for dynamically-decoupled force/motion control
复制标题
用于动态解耦力/运动控制的通用接触模型
DOI：
10.1109/robot.1999.774098
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发表时间：
1999
期刊：
影响因子：
--
通讯作者：
O. Khatib
中科院分区：
文献类型：
--
作者：
R. Featherstone;S. Thiebaut;O. Khatib
提出了一种用于力/运动混合控制的一般一阶无摩擦刚体接触运动学模型。它以不变的方式通过将运动矢量和力矢量作为两个独立但对偶的矢量空间的成员来表述。这些更一般的运动学使我们能够对无法用Raibert-Craig模型描述的任务进行建模；一个方向由力或运动控制的单一笛卡尔坐标系是不够的。该模型可以与物体动力学和机械手动力学相结合，从而对接触的运动学和动力学进行建模。这些运动方程可用于在适当的子空间中设计力和运动控制器。为了保证控制器之间的解耦，可以将投影矩阵应用于仅依赖于接触的运动学模型而不是动态模型的控制器输出。实验结果表明，在执行运动时控制两个单独的面-顶点接触中的力的操作。这些多接触柔顺运动经常作为装配的一部分发生，不能用Raibert-Craig模型来描述。
Presents a general first-order kinematic model of frictionless rigid-body contact for use in hybrid force/motion control. It is formulated in an invariant manner by treating motion and force vectors as members of two separate but dual vector spaces. These more general kinematics allow us to model tasks that cannot be described using the Raibert-Craig model; a single Cartesian frame in which directions are either force- or motion-controlled is not sufficient. The model can be integrated with the object and manipulator dynamics in order to model both the kinematics and dynamics of contact. These equations of motion can be used to design force and motion controllers in the appropriate subspaces. To guarantee decoupling between the controllers, it is possible to apply projection matrices to the controller outputs that depend solely on the kinematic model of contact, not a dynamic one. Experimental results show a manipulation that involves controlling the force in two separate face-vertex contacts while performing motion. These multi-contact compliant motions often occur as part of an assembly and cannot be described using the Raibert-Craig model.