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ATTRACTOR-BASED WHOLE-BODY MOTION CONTROL (WBMC) SYSTEM FOR AN ARTICULATED ROBOT
ATTRACTOR-BASED WHOLE-BODY MOTION CONTROL (WBMC) SYSTEM FOR AN ARTICULATED ROBOT
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机译:基于吸引子的机器人整体运动控制(WBMC)系统
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摘要
A Model-Based, Whole-Body Motion-Control (WBMC) system for an articulated robot required to perform simultaneous tasks which are not prioritized a priori and which may also be competing, the system comprising is described, the system comprising : • one or more attractors (MinEff, MomJ, MomCOM, JLim, EEff ), each of which is an operationally independent closed-loop, model-based torque/ force-control module associated with a corresponding robot's controlled task, and is designed to receive a quantity computed based on one or more quantities ( q, q ) representing the state of the robot, and to output robot's joint torques (TGC,TME, TMJ, TLMC, TAMC TJL TEE ) which are to be applied to robot's active joints to attract the robot's current state to a robot's target state; and • a torque and/or linear force command generator designed to receive the robot's joint torques and/or linear forces from the one or more attractors and to generate a torque and/or linear force command for the robot based on the received robot's joint torques to cause the robot's current state to converge to the robot's target state.
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机译:一种用于关节机器人的,基于模型的整体运动控制(WBMC)系统,该系统需要执行同时执行的任务,这些任务没有先验的优先级,也可能具有竞争性,描述了该系统,该系统包括:•一个或多个更多的吸引子(MinEff,MomJ,MomCOM,JLim,EEff),每个吸引子都是与相应机器人的控制任务相关的基于操作的闭环,基于模型的转矩/力控制模块,旨在接收计算出的数量基于代表机器人状态的一个或多个量(q,q),并输出机器人的关节扭矩(T GC Sub>,T ME Sub>,T MJ Sub>,T LMC Sub>,T AMC Sub T JL Sub T EE Sub>)机器人的活动关节以将机器人的当前状态吸引到机器人的目标状态; •扭矩和/或线性力命令发生器,用于从一个或多个吸引器接收机器人的关节扭矩和/或线性力,并根据接收到的机器人的关节扭矩为机器人生成扭矩和/或线性力命令使机器人的当前状态收敛到机器人的目标状态。
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