论文标题
用于机器人操纵器的笛卡尔阻抗控制器的C ++实施
A C++ Implementation of a Cartesian Impedance Controller for Robotic Manipulators
论文作者
论文摘要
笛卡尔阻抗控制是机器人的一种运动控制策略，可以通过实现机器人相对于其外部力的合规行为来提高部分未知环境的安全性。这种合规的机器人行为具有允许物理人类对机器人的指导的额外好处。在本文中，我们提出了C ++的合规性控制实施，适用于任何扭矩指令的机器人操纵器。所提出的控制器实现笛卡尔阻抗控制，以跟踪所需的最终效果姿势。此外，在笛卡尔机器人运动的零孔中投射了关节阻抗，以跟踪所需的机器人关节构型，而不会扰动机器人的笛卡尔运动。拟议的实施还允许机器人将所需的力和扭矩应用于其环境。拟议的实施中包括了几种安全功能，例如过滤，限制和饱和。核心功能在可重复使用的基本库中，并且在此基础上提供了机器人操作系统（ROS）ROS_CONTROL集成。在模拟和物理机器人中，通过Kuka LBR IIWA机器人和Franka Emika机器人（PANDA）对实施进行了测试。
Cartesian impedance control is a type of motion control strategy for robots that improves safety in partially unknown environments by achieving a compliant behavior of the robot with respect to its external forces. This compliant robot behavior has the added benefit of allowing physical human guidance of the robot. In this paper, we propose a C++ implementation of compliance control valid for any torque-commanded robotic manipulator. The proposed controller implements Cartesian impedance control to track a desired end-effector pose. Additionally, joint impedance is projected in the nullspace of the Cartesian robot motion to track a desired robot joint configuration without perturbing the Cartesian motion of the robot. The proposed implementation also allows the robot to apply desired forces and torques to its environment. Several safety features such as filtering, rate limiting, and saturation are included in the proposed implementation. The core functionalities are in a re-usable base library and a Robot Operating System (ROS) ros_control integration is provided on top of that. The implementation was tested with the KUKA LBR iiwa robot and the Franka Emika Robot (Panda) both in simulation and with the physical robots.
