提升机器人操作的动态响应能力，实现更精准的力控。
A Unified Control Architecture for Macro-Micro Manipulation using a Active Remote Center of Compliance for Manufacturing Applications
- 将大臂机械手纳入主动力控闭环，突破传统控制瓶颈。
- 力控带宽提升2.1倍（相比主流架构）和12.5倍（相比传统方式）。
- 采用代理模型简化设计，便于硬件调整与工业部署。
宏-微操作器结合了具有大工作空间的宏操纵臂（如工业机器人）与轻量、高带宽的微操纵臂，可在保持广阔作业范围的同时实现高动态交互控制。传统方法将位置控制分配给宏臂，微臂负责环境交互，限制了交互控制带宽。为此，本文提出一种新型控制架构，将宏臂纳入主动交互控制回路。实验表明，该方案使控制带宽相比现有主流领导者-跟随者架构提升2.1倍，相比传统基于机器人的力控提升12.5倍。同时，我们引入代理模型以实现更高效的控制器设计，并支持快速适配硬件变化。通过碰撞物体、跟踪力轨迹及工业装配任务等多组实验验证了该方法的有效性。
原文摘要 · Abstract (English)
Macro-micro manipulators combine a macro manipulator with a large workspace, such as an industrial robot, with a lightweight, high-bandwidth micro manipulator. This enables highly dynamic interaction control while preserving the wide workspace of the robot. Traditionally, position control is assigned to the macro manipulator, while the micro manipulator handles the interaction with the environment, limiting the achievable interaction control bandwidth. To solve this, we propose a novel control architecture that incorporates the macro manipulator into the active interaction control. This leads to a increase in control bandwidth by a factor of 2.1 compared to the state of the art architecture, based on the leader-follower approach and factor 12.5 compared to traditional robot-based force control. Further we propose surrogate models for a more efficient controller design and easy adaptation to hardware changes. We validate our approach by comparing it against the other control schemes in different experiments, like collision with an object, following a force trajectory and industrial assembly tasks.
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