提出一种无需解耦的混合控制方法，实现可重构桁架机器人的力与位姿协同操控。
Object Manipulation of the Variable Topology Truss system
- 采用传感反馈的力控制算法，在高摩擦下仍能精准生成所需轴向力。
- 通过静态模型计算各杆件受力，实现末端节点的力与位置同步跟踪。
- 实验验证了两种构型下物体操控的可靠性，支持快速部署应用场景。
本文提出一种针对可变拓扑桁架（VTT）系统的物体操控策略，该系统由主动桁架单元通过被动球形关节连接而成。尽管桁架机器人最初被设计为快速部署的机械臂，但其操控策略尚未得到充分研究。为实现操控，我们引入一种混合控制框架，可在不显式解耦的情况下同时调节位置与力。在执行器层面，每个杆件采用基于传感器的力反馈控制器，即使在高摩擦条件下也能生成期望的轴向力。在任务层面，通过VTT系统的静力学模型计算所需的杆件受力，以产生末端执行器节点上的作用力。通过单个杆件模块和完整VTT系统的实验，评估了力追踪性能。最后，我们在两种典型构型下演示了物体操控，并定量评估了位置与力的联合跟踪表现。实验结果表明，所提方法可实现一致且可靠的物体操控。
原文摘要 · Abstract (English)
This paper presents an object manipulation strategy for the Variable Topology Truss (VTT) system, a truss robot that comprises actuated truss members connected by passive spherical joints. Although truss robots were originally proposed as rapidly deployable manipulators, manipulation strategy has not been studied thoroughly. To enable manipulation, we introduce a hybrid control framework that regulates position and force concurrently without explicit decoupling. At the actuator level, each member employs a sensor-based force feedback controller to generate the desired axial forces despite high actuator friction. At the task level, the forces applied at the end-effector nodes are produced by computing the required member forces using a static model of the VTT. We evaluate force-tracking performance through experiments on both a single member module and the full VTT system. Finally, we demonstrate object manipulation using two representative configurations and quantitatively assess combined position and force tracking performance. Experimental results confirm that the proposed approach enables consistent and reliable object manipulation with the VTT system.
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