阻抗控制
惯性
刚度
控制理论(社会学)
接触力
机器人
执行机构
冗余(工程)
计算机科学
导纳
阻抗参数
被动性
机械阻抗
不稳定性
接触动力学
控制工程
电阻抗
工程类
控制(管理)
人工智能
物理
经典力学
结构工程
机械
电气工程
操作系统
出处
期刊:Annual review of control, robotics, and autonomous systems
[Annual Reviews]
日期:2022-05-03
卷期号:5 (1): 179-203
被引量:4
标识
DOI:10.1146/annurev-control-042920-010933
摘要
This article reviews approaches to controlling robots undergoing physical contact and dynamic interaction with objects in the world. Conventional motion control is compared with a hybrid combination of position and force control. Several challenges are reviewed, most importantly the problems of instability: dynamic instability due to coupling, and static instability due to exerting force. Energetically passive interactive dynamics addresses the former; a minimum stiffness proportional to the force exerted addresses the latter. Actuators, which dominate the robot's interactive dynamics, are briefly surveyed, including series elastic, variable-stiffness, and emerging designs. A comparison with human performance is made. A bioinspired approach to controlling interactive dynamics (mechanical impedance or admittance) is reviewed. Robot configuration profoundly modulates apparent inertia, whereas force feedback control has minimal influence. Superimposing first-order mechanical impedances simplifies controlling many degrees of freedom. It manages redundancy while preserving passivity (unlike null-space projection methods) and enables seamless operation into and out of singular configurations.
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