用安全集理论让机械臂在扰动下仍保持安全运行
Viability-Preserving Passive Torque Control
- 基于可行性理论预计算关节位置与速度的安全区域
- 实测7自由度机械臂在硬件上实现更高控制频率和更平滑轨迹
- 适合需要高安全性工业机器人控制的场景
传统的基于无源性的力矩控制器通常无约束，外部扰动下可能导致安全违规。本文采用可行性理论，在关节位置与速度的状态空间中预计算安全集，通过数据驱动与解析方法构建自碰撞、外部物体碰撞及关节限位的安全区域。这些安全集作为约束，通过机器人动力学限制关节加速度，进而约束关节力矩。采用基于二次规划的控制框架，在跟踪动态系统时强制执行这些约束，确保机器人状态在无限时间范围内始终处于安全集内。我们在7自由度Franka Emika机械臂上通过仿真与硬件实验验证了该方法的有效性。相比基准受约束的无源控制器，本方法具备更高的控制周期率和更平滑的运动轨迹。
原文摘要 · Abstract (English)
Conventional passivity-based torque controllers for manipulators are typically unconstrained, which can lead to safety violations under external perturbations. In this paper, we employ viability theory to pre-compute safe sets in the state-space of joint positions and velocities. These viable sets, constructed via data-driven and analytical methods for self-collision avoidance, external object collision avoidance and joint-position and joint-velocity limits, provide constraints on joint accelerations and thus joint torques via the robot dynamics. A quadratic programming-based control framework enforces these constraints on a passive controller tracking a dynamical system, ensuring the robot states remain within the safe set in an infinite time horizon. We validate the proposed approach through simulations and hardware experiments on a 7-DoF Franka Emika manipulator. In comparison to a baseline constrained passive controller, our method operates at higher control-loop rates and yields smoother trajectories.
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