不修改底层控制器，用外环增强工业机械臂的跟踪精度与安全性
Unified Disturbance Aware Safe Kinematic Control for Closed-Architecture Robots
- 外环添加扰动抑制与安全约束机制
- 实测在不确定模型下仍保持高精度与安全
- 适合无法修改内环控制的工业场景
在商用机器人系统中，通常存在不可用户修改的封闭内环力矩控制器。然而，外环控制器可接收位置或速度等运动指令并发送给内环追踪。本文提出一种易于集成的外环附加模块，结合扰动抑制控制与鲁棒控制屏障函数，实现对工业机械臂整个动态系统的高性能跟踪与安全控制。该方法特别适用于内环控制器不完善、不可修改且存在不确定性，以及系统动力学模型显著不确定的情形。文中提供了稳定性分析、形式化安全保证证明，并通过PUMA机械臂硬件实验验证。结果表明，相比现有技术，本方案在实现简便性、鲁棒性、跟踪精度和安全性方面均有显著提升。演示视频见https://youtu.be/e0palGVU_50。
原文摘要 · Abstract (English)
In commercial robotic systems, it is common to encounter a closed inner-loop torque controller that is not user-modifiable. However, the outer-loop controller, which sends kinematic commands such as position or velocity for the inner-loop controller to track, is typically exposed to users. In this work, we focus on the development of an easily integrated add-on at the outer-loop layer by combining disturbance rejection control and robust control barrier function for high-performance tracking and safe control of the whole dynamic system of an industrial manipulator. This is particularly beneficial when 1) the inner-loop controller is imperfect, unmodifiable, and uncertain; and 2) the dynamic model exhibits significant uncertainty. Stability analysis, formal safety guarantee proof, and hardware experiments with a PUMA robotic manipulator are presented. Our solution demonstrates superior performance in terms of simplicity of implementation, robustness, tracking precision, and safety compared to the state of the art. A demonstration video is available at https://youtu.be/e0palGVU_50.
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