提出可实时调控力的新型机械臂柔顺装置，显著提升机器人高动态交互能力。
Highly dynamic physical interaction for robotics: design and control of an active remote center of compliance
- 融合主动与被动控制，设计新型主动远程柔顺机构（ARCC）
- 交互带宽最高提升31倍，明显优于传统机器人控制方案
- 适合高精度、低周期时间的工业装配场景
机器人交互控制常受限于低动态或低柔顺性，取决于采用主动或被动方法。本文提出一种混合控制策略，结合主动与被动控制优势。为此，设计了一种新型主动远程柔顺机构（ARCC），由被动与主动元件构成，可直接调控交互力。引入代理模型对基于机器人的纯动力学交互方案进行动态对比。在对比验证中，ARCC显著提升交互动态性能，使运动带宽最高提升31倍。文中还介绍了控制方法及其在机器人控制器中的集成方式。最后，在钉入孔、顶帽轨道装配及轮廓跟踪等工业基准任务上评估ARCC，并与当前最优方法对比，突出其高动态性与柔顺性。该系统特别适用于需低周期时间且敏感操作的应用场景。
原文摘要 · Abstract (English)
Robot interaction control is often limited to low dynamics or low flexibility, depending on whether an active or passive approach is chosen. In this work, we introduce a hybrid control scheme that combines the advantages of active and passive interaction control. To accomplish this, we propose the design of a novel Active Remote Center of Compliance (ARCC), which is based on a passive and active element which can be used to directly control the interaction forces. We introduce surrogate models for a dynamic comparison against purely robot-based interaction schemes. In a comparative validation, ARCC drastically improves the interaction dynamics, leading to an increase in the motion bandwidth of up to 31 times. We introduce further our control approach as well as the integration in the robot controller. Finally, we analyze ARCC on different industrial benchmarks like peg-in-hole, top-hat rail assembly and contour following problems and compare it against the state of the art, to highlight the dynamic and flexibility. The proposed system is especially suited if the application requires a low cycle time combined with a sensitive manipulation.
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