提出多种机器人接触操作控制方法，提升维修平台作业精度与适应性。
Contact Tooling Manipulation Control for Robotic Repair Platform
- 融合位置与力控的混合控制适用于精确力任务
- 远程操作需匹配机器人刚度以保证接触稳定
- 虚拟夹具与共享控制适合复杂非结构化场景
本文研究了用于机器人维修平台上动态接触工具操作的多种机器人操纵控制方法。探讨的控制策略包括混合位置-力控制、顺从控制、双边遥操作控制、虚拟夹具和共享控制。每种方法均在真实维修场景中评估其适用性与有效性。混合位置-力控制器在需要精确力的任务中表现优异，但依赖于环境的准确模型及静态结构化环境。对于非结构化环境，双边遥操作控制被研究，发现远程机器人控制器的柔顺性对接触稳定性至关重要，但会降低运动跟踪性能。此外，虚拟夹具和共享控制等先进控制器在工具操作任务中展现出应用潜力。
原文摘要 · Abstract (English)
This paper delves into various robotic manipulation control methods designed for dynamic contact tooling operations on a robotic repair platform. The explored control strategies include hybrid position-force control, admittance control, bilateral telerobotic control, virtual fixture, and shared control. Each approach is elucidated and assessed in terms of its applicability and effectiveness for handling contact tooling tasks in real-world repair scenarios. The hybrid position-force controller is highlighted for its proficiency in executing precise force-required tasks, but it demands contingent on an accurate model of the environment and structured, static environment. In contrast, for unstructured environments, bilateral teleoperation control is investigated, revealing that the compliance with the remote robot controller is crucial for stable contact, albeit at the expense of reduced motion tracking performance. Moreover, advanced controllers for tooling manipulation tasks, such as virtual fixture and shared control approaches, are investigated for their potential applications.
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