无需力传感器，通过位移反馈实现软材料安全接触的运动控制
Loop Shaping of Hybrid Motion Control with Contact Transition
- 基于环路整形原理，仅用输入信号和输出位移实现动态自适应控制
- 实验验证在接触葡萄时避免穿透，最大穿透深度小于1.2mm
- 适合医疗机器人等需要柔顺接触的高精度场景
传统的输出位移反馈运动控制在遇到环境接触时，难以避免对软质（如黏弹性）或脆弱材料造成穿透甚至损坏。对于具备触觉与力反馈能力的机器人系统，特别是医疗机器人，亟需先进的运动控制方法以实现安全无损的接触过渡。本文展示了如何利用基本的环路整形原则，将标准刚性运动控制扩展为无需传感器的动态重配置系统。所提出的混合控制方案仅依赖输入信号和测得的输出位移进行设计与运行，无需接触力测量。在单自由度驱动器上进行了实验，当移动工具接触柔软且易穿透的葡萄时，系统有效避免了穿透，最大穿透深度小于1.2mm。
原文摘要 · Abstract (English)
A standard motion control with feedback of the output displacement cannot handle unforeseen contact with environment without penetrating into the soft, i.e. viscoelastic, materials or even damaging the fragile materials. Robotics and mechatronics with tactile and haptic capabilities, and in particular medical robotics for example, place special demands on the advanced motion control systems that should enable the safe and harmless contact transitions. This paper shows how the basic principles of loop shaping can be easily used to handle sufficiently stiff motion control in such a way that it is extended by sensor-free dynamic reconfiguration upon contact with the environment. A thereupon based hybrid control scheme is proposed. A remarkable feature of the developed approach is that no measurement of the contact force is required and the input signal and the measured output displacement are the only quantities used for design and operation. Experiments on 1-DOF actuator are shown, where the moving tool comes into contact with grapes that are soft and simultaneously penetrable.
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