通过最小化系统动能提升人机协作中移动机器人的控制性能
A Minimum-Energy Control Approach for Redundant Mobile Manipulators in Physical Human-Robot Interaction Applications
- 以最小化全身动能为目标设计控制策略
- 实测显示动能降低，任务完成更稳定
- 适合需要精准力控的移动机器人应用
近年来，能够与人类进行物理交互的移动操作机器人研究迅速发展，为固定基座机械臂无法完成的任务提供了可能。在此背景下，开发合适的控制方法至关重要，因为移动操作机器人引入了额外的自由度，使控制设计更具挑战性且更易优化性能。本文提出一种针对移动操作机器人的控制方法，该机器人由顶部安装机械臂的移动底盘组成，旨在最小化整个系统在人机物理交互中所储存的总动能。该方法在插销入孔任务中进行了实验验证，结果表明，与基准方法相比，所提方法有效降低了系统整体动能，提升了系统性能。
原文摘要 · Abstract (English)
Research on mobile manipulation systems that physically interact with humans has expanded rapidly in recent years, opening the way to tasks which could not be performed using fixed-base manipulators. Within this context, developing suitable control methodologies is essential since mobile manipulators introduce additional degrees of freedom, making the design of control approaches more challenging and more prone to performance optimization. This paper proposes a control approach for a mobile manipulator, composed of a mobile base equipped with a robotic arm mounted on the top, with the objective of minimizing the overall kinetic energy stored in the whole-body mobile manipulator in physical human-robot interaction applications. The approach is experimentally tested with reference to a peg-in-hole task, and the results demonstrate that the proposed approach reduces the overall kinetic energy stored in the whole-body robotic system and improves the system performance compared with the benchmark method.
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