论文标题
哈米尔顿港框架中的可变休息长度阻抗抓住策略
A variable rest length impedance grasping strategy in the port-Hamiltonian framework
论文作者
论文摘要
这项工作致力于用于哈米尔顿港框架中一类标准机械系统的阻抗掌握策略。我们嵌入了现有阻抗抓握策略的弹簧的可变休息长度，以实现稳定的非接触式接触过渡和所需的握力。我们利用标准机械系统的哈米尔顿港结构。首先，我们利用变量的变化，将港口 - 哈米尔顿港系统转换为具有恒定的大量惰性基质的变量。然后，我们通过\ emph {Virtual Spring}实现阻抗控制控制，具有可变的静止长度。虚拟弹簧施加的力导致阻抗握把控制器中的耗散项，这是获得更平滑的非接触以进行接触过渡所需的。给出模拟和实验结果，以激发我们的结果。
This work is devoted to an impedance grasping strategy for a class of standard mechanical systems in the port-Hamiltonian framework. We embed a variable rest-length of the springs of the existing impedance grasping strategy in order to achieve a stable non-contact to contact transition, and a desired grasping force. We utilize the port-Hamiltonian structure of standard mechanical systems. First, we utilize a change of variables that transforms the port-Hamiltonian system into one with a constant mass-inertia matrix. We then achieve impedance grasping control via a \emph{virtual spring} with a variable rest-length. The force that is exerted by the virtual spring leads to a dissipation term in the impedance grasping controller, which is needed to obtain a smoother non-contact to contact transition. Simulations and experimental results are given in order to motivate our results.
