接触制御のための凸最適化によるコントローラ合成
Convex Controller Synthesis for Robot Contact
ロバスト制御理論と凸最適化に基づき、不確実性や遅延・外乱下でも安定かつ性能を満たす接触制御器を合成する手法を提案し、ハンドガイドや未知剛性面の摺動で従来法を上回ることを示した。
著者: Hung Pham, Quang-Cuong Pham
分類: cs.RO
原文アブストラクト
Controlling contacts is truly challenging, and this has been a major hurdle to deploying industrial robots into unstructured/human-centric environments. More specifically, the main challenges are: (i) how to ensure stability at all times; (ii) how to satisfy task-specific performance specifications; (iii) how to achieve (i) and (ii) under environment uncertainty, robot parameters uncertainty, sensor and actuator time delays, external perturbations, etc. Here, we propose a new approach -- Convex Controller Synthesis (CCS) -- to tackle the above challenges based on robust control theory and convex optimization. In two physical interaction tasks -- robot hand guiding and sliding on surfaces with different and unknown stiffnesses -- we show that CCS controllers outperform their classical counterparts in an essential way.
