机器人拧螺母系统切换力控与位控，提速14%且减小40倍接触力。
Hybrid Control for Robotic Nut Tightening Task
- 分层运动基元规划+力/位控切换策略
- 比基线快14%，接触力降低40倍
- 适合工业自动化与精密装配研究
针对配备并联夹爪的串联机械臂，提出一种自主螺母拧紧系统。该系统采用分层运动基元规划器与力控/位控切换控制策略。大量仿真表明其对初始条件变化具有鲁棒性。实验显示，所提控制器在拧紧螺纹螺丝时比基线快14%，且对操作对象施加的接触力减少40倍。为促进研究进展，系统实现已开源。
原文摘要 · Abstract (English)
An autonomous robotic nut tightening system for a serial manipulator equipped with a parallel gripper is proposed. The system features a hierarchical motion-primitive-based planner and a control-switching scheme that alternates between force and position control. Extensive simulations demonstrate the system's robustness to variance in initial conditions. Additionally, the proposed controller tightens threaded screws 14% faster than the baseline while applying 40 times less contact force on manipulands. For the benefit of the research community, the system's implementation is open-sourced.
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