针对海上机械臂的晃动问题，提出优化控制方法提升轨迹精度与柔顺操作能力。
Impedance Control of Ship-Borne Manipulators via Optimization-based Task-Space Inverse Dynamics
- 基于任务空间逆动力学，用二次规划求解扭矩，补偿基底运动带来的耦合效应。
- 实测端点位置跟踪误差降低25.7%以上，1~mm间隙下插销成功率高且接触力减少45%。
- 适合需要高精度、强鲁棒性的海上作业场景，如船舶装卸、精密装配等。
船载机械臂在海洋环境中受随机波浪引起的基底运动影响，产生运动学扰动和动力学耦合，降低轨迹跟踪精度并增加安全接触操作难度。本文提出一种基于优化的扭矩级控制框架，融合高精度轨迹跟踪与任务空间阻抗控制。控制器采用任务空间逆动力学（TSID）建模，并通过二次规划求解，显式补偿基底运动引入的动力学耦合。为实现精确前馈补偿，设计了误差状态卡尔曼滤波器（ESKF），融合惯性测量与末端位姿反馈以估计基底状态。该框架在7-DOF机械臂搭载于6-DOF Stewart平台的仿真与真实实验中验证。相比最优基线，实测端点位置跟踪误差降低超过25.7%。此外，在基底运动下仍可实现1~mm间隙的动态插销操作，成功率提高，平均接触力下降45%，证明了在接触密集环境中的精准柔顺操控能力。
原文摘要 · Abstract (English)
Ship-borne manipulators operating in maritime environments are subject to stochastic wave-induced base motions that introduce kinematic disturbances and dynamic coupling, degrading trajectory tracking accuracy and complicating safe, contact-rich manipulation. This paper proposes a torque-level optimization-based control framework that integrates high-precision trajectory tracking with task-space impedance for ship-borne manipulators. The controller is formulated using task-space inverse dynamics (TSID) and solved via quadratic programming to explicitly compensate for the dynamic coupling introduced by base motion. To enable accurate feedforward compensation, an error-state Kalman filter (ESKF) is developed to estimate the base state by fusing inertial measurements with end-effector pose feedback. The framework is validated in simulation and real-world experiments using a 7-DOF manipulator mounted on a 6-DOF Stewart platform. The proposed method reduces real-world end-effector position tracking error by over 25.7% compared with the best baseline. Furthermore, the controller enables dynamic peg-in-hole insertion with 1~mm clearance under base motion, increasing the success rate while reducing average contact forces by 45%, demonstrating precise and compliant manipulation in contact-rich environments.
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