Experimental robotic manipulator surface touchdown analysis andresults

摘要

A key problem for robotics tasks involving contact with a surfaceis the initial touchdown or impact stage. This paper experimentallyevaluates a touchdown algorithm designed to allow the successfultransition between free-space motion and post-contact force control.Experimental analysis of the basic touchdown provides insight into theproposed solution. A “bandwidth boost” is applied to theforce controller after impact and combined with a “forceboost” in the force reference command. The results show that thenew touchdown method can increase the speed at which a manipulator canmaintain contact with the surface after initial touchdown