Prioritized motion-force control of constrained fully-actuated robots: 'Task Space Inverse Dynamics'

摘要

We present a new framework for prioritized multi-task motion-force control offully-actuated robots. This work is established on a careful review andcomparison of the state of the art. Some control frameworks are not optimal,that is they do not find the optimal solution for the secondary tasks. Otherframeworks are optimal, but they tackle the control problem at kinematic level,hence they neglect the robot dynamics and they do not allow for force control.Still other frameworks are optimal and consider force control, but they arecomputationally less efficient than ours. Our final claim is that, forfully-actuated robots, computing the operational-space inverse dynamics isequivalent to computing the inverse kinematics (at acceleration level) and thenthe joint-space inverse dynamics. Thanks to this fact, our control frameworkcan efficiently compute the optimal solution by decoupling kinematics anddynamics of the robot. We take into account: motion and force control, soft andrigid contacts, free and constrained robots. Tests in simulation validate ourcontrol framework, comparing it with other state-of-the-art equivalentframeworks and showing remarkable improvements in optimality and efficiency.