軟接触力学を考慮した軌道最適化と力制御の同時実行
Simultaneous Trajectory Optimization and Force Control with Soft Contact Mechanics
軟らかい環境との接触における滑り摩擦と法線力をモデル化し、DDPとADMMに基づく制約最適化でマニピュレータの軌道と力を同時に計画・制御する枠組みを提案し、軟質基板上の実験で検証した。
著者: Lasitha Wijayarathne, Qie Sima, Ziyi Zhou, Ye Zhao, Frank L. Hammond
分類: cs.RO
原文アブストラクト
Force modulation of robotic manipulators has been extensively studied for several decades but is not yet commonly used in safety-critical applications due to a lack of accurate interaction contact modeling and weak performance guarantees - a large proportion of them concerning the modulation of interaction forces. This study presents a high-level framework for simultaneous trajectory optimization and force control of the interaction between manipulator and soft environments. Sliding friction and normal contact force are taken into account. The dynamics of the soft contact model and the manipulator dynamics are simultaneously incorporated in the trajectory optimizer to generate desired motion and force profiles. A constraint optimization framework based on Differential Dynamic Programming and Alternative Direction Method of Multipliers has been employed to generate optimal control input and high-dimensional state trajectories. Experimental validation of the model performance is conducted on a soft substrate with known material properties using Cartesian space force control mode. Results show a comparison of ground truth and predicted model based contact force states for a few cartesian motions and the validity range of the friction model. Potential applications include high-level task planning of medical tasks involving manipulation of compliant, delicate, and deformable tissues.
