为机器人倒液时突发危险设计快速防洒停止方案
Emergency Stopping for Liquid-manipulating Robots
- 将紧急停止建模为最优控制问题，用模型预测控制生成防洒轨迹
- 在仿真和7自由度机械臂上验证，实现快速制动且零溢出
- 可作为安全层即插即用，适合需要高安全性液体操作的场景
开放容器中的液体操控极具挑战性，因液体对容器加速度和急动非常敏感。尽管无溢出操控已广泛研究，但面对突发危险时的紧急制动仍缺乏关注，而急刹车极易引发危险溢出。本文提出一种针对开放容器液体操控机器人的紧急停止系统。将紧急停止建模为最优控制问题，在模型预测控制框架中求解，生成时间最优、无溢出的停止轨迹。该方法作为安全层可无缝集成至现有防晃动运动规划方法之上，能对检测到的危险即时响应，并考虑非线性液体动力学。通过仿真及在7自由度Franka Emika Panda机器人上的实验验证，所提方法可在不溢出的前提下实现快速紧急停止。
原文摘要 · Abstract (English)
Manipulating open liquid containers is challenging because liquids are highly sensitive to vessel accelerations and jerks. Although spill-free liquid manipulation has been widely studied, emergency stopping under unexpected hazards has received little attention, despite the fact that abrupt braking may cause hazardous spills. This letter presents an emergency stop system for robots manipulating liquids in open containers. We formulate emergency stopping as an optimal control problem and solve it in a model predictive control framework to generate time-optimal, spill-free stopping trajectories. The method operates as a plug-and-play safety layer on top of existing slosh-free motion planning methods, enabling immediate reaction to detected hazards while accounting for nonlinear liquid dynamics. We demonstrate, through simulation and on a 7-DoF Franka Emika Panda robot, that the proposed approach achieves fast emergency stopping without spilling.
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