论文标题
具有强大力控制器的多个接触刚度的机器人组件
Robotic Assembly across Multiple Contact Stiffnesses with Robust Force Controllers
论文作者
论文摘要
主动力控制（AFC）是解决高精度机器人组件的重要方案。经典的力控制器高度依赖于表面：必须针对接触的每种表面仔细调整控制器，以避免不稳定性并达到合理的性能水平。在这里，我们建立在最近开发的凸控制器合成（CCS）的基础上，以使跨各种表面刚度的高精度组装能够，而无需任何表面依赖性调整。具体而言，我们演示了具有100微米间隙的钉孔组件，最高2 cm的初始位置不确定性以及四种类型的钉子和孔材料 - 橡胶，塑料，木材，铝 - 使用单个控制器，其刚度在10至100 n/mm之间。
Active Force Control (AFC) is an important scheme for tackling high-precision robotic assembly. Classical force controllers are highly surface-dependent: the controller must be carefully tuned for each type of surface in contact, in order to avoid instabilities and to achieve a reasonable performance level. Here, we build upon the recently-developed Convex Controller Synthesis (CCS) to enable high-precision assembly across a wide range of surface stiffnesses without any surface-dependent tuning. Specifically, we demonstrate peg-in-hole assembly with 100 micron clearance, initial position uncertainties up to 2 cm, and for four types of peg and hole materials -- rubber, plastic, wood, aluminum -- whose stiffnesses range from 10 to 100 N/mm, using a single controller.
