提出一种无需机器人型号的末端对齐控制器，提升月球模块化机器人的装配鲁棒性。
An Agnostic End-Effector Alignment Controller for Robust Assembly of Modular Space Robots
- 通过动态超球体约束自适应调整速度上限，实现平稳对齐。
- 连续版本收敛快，定位精度达毫米级；离散版本运动更稳定、晃动小。
- 适用于不同机械误差和传感噪声的月球机器人，适合自主重构场景。
模块化机器人具备可重构性和容错能力，对月球任务至关重要，但需能适应真实世界干扰的控制器。我们在先前基于硬件无关的执行器同步基础上，开发了一种新控制器，通过动态超球体钳制实现自适应速度约束。仅依赖实时末端执行器与目标位姿测量，控制器可调节平移与旋转速度限制，确保无突变动作下的平稳稳定对齐。我们实现了两种变体：离散的分步式版本与连续的速度式版本，并在JAXA月球环境模拟器中的两台MoonBot机械臂上进行测试。实地试验表明，离散版本产生高度可预测、低晃动的运动；连续版本收敛更快，保持毫米级位置精度，且两者均对不同机械缺陷（如间隙、柔性）和传感噪声表现出鲁棒性。结果凸显了该机器人无关框架在恶劣条件下自主自组装与重构的灵活性与鲁棒性。
原文摘要 · Abstract (English)
Modular robots offer reconfigurability and fault tolerance essential for lunar missions, but require controllers that adapt safely to real-world disturbances. We build on our previous hardware-agnostic actuator synchronization in Motion Stack to develop a new controller enforcing adaptive velocity bounds via a dynamic hypersphere clamp. Using only real-time end-effector and target pose measurements, the controller adjusts its translational and rotational speed limits to ensure smooth, stable alignment without abrupt motions. We implemented two variants, a discrete, step-based version and a continuous, velocity-based version, and tested them on two MoonBot limbs in JAXA's lunar environment simulator. Field trials demonstrate that the step-based variant produces highly predictable, low-wobble motions, while the continuous variant converges more quickly and maintains millimeter-level positional accuracy, and both remain robust across limbs with differing mechanical imperfections and sensing noise (e.g., backlash and flex). These results highlight the flexibility and robustness of our robot-agnostic framework for autonomous self-assembly and reconfiguration under harsh conditions.
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