提出VRA方法，让电机执行加速指令更真实可靠。
VRA: Grounding Discrete-Time Joint Acceleration in Voltage-Constrained Actuation
- 基于电压约束物理模型，限制可执行的加速度范围
- 实测显示能消除不可执行加速度，减少振荡
- 适合机器人运动控制与高精度伺服系统
离散时间关节加速度约束广泛用于限制位置和速度。然而，在电压受限的电动执行器下，运动学上可行的加速度可能在物理上无法实现，暴露了执行层面抽象的缺失。我们提出电压可实现加速度（VRA），一种将运动学加速度与电压约束执行器物理特性对齐的关节级加速度接口，通过限制命令加速度仅在电压可实现范围内。在电动执行器和轮足四足机器人上的硬件实验表明，VRA能消除不可实现的加速度，恢复近约束一致执行，并降低约束引起的振荡。
原文摘要 · Abstract (English)
Discrete-time joint acceleration constraints are widely used to enforce position and velocity limits. However, under voltage-constrained electric actuators, kinematically admissible accelerations may be physically unrealizable, exposing a missing execution-level abstraction. We propose Voltage-Realizable Acceleration (VRA), a joint-level acceleration interface that grounds kinematic acceleration in voltage-constrained actuator physics by restricting commanded accelerations to voltage-realizable constraints. Hardware experiments on electric actuators and a wheel-legged quadruped show that VRA removes unrealizable accelerations, restores consistent near-constraint execution, and reduces constraint-induced oscillations.
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