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Article Dans Une Revue IEEE Robotics and Automation Letters Année : 2023

Refined Post-Impact Velocity Prediction for Torque-Controlled Flexible-Joint Robots

Résumé

Predicting the post-impact velocity for torquecontrolled flexible-joint robots allows the implementation of impact-aware control schemes which exploit intentional collisions for robotic manipulation and locomotion. Starting from the existing rigid-robot post-impact velocity prediction approach [1], this paper shows how an improvement in the prediction quality can be obtained by taking into account impact surface friction, joint motor inertias, gear ratios, and low-level joint torque control gains. Compared to the previous rigid-robot approach, the paper also proposes a more robust method to estimate the gross post-impact velocity profile from experimental data via a polynomial fit, to remove unmodelled and secondary vibratory effects. The approach is illustrated by means of simulation and validated on 50 experimental trials on a commercially available torque-controlled robot. The recorded impact data and prediction algorithms are shared openly for reproducibility.
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Dates et versions

hal-04148817 , version 1 (03-07-2023)
hal-04148817 , version 2 (18-10-2023)
hal-04148817 , version 3 (11-02-2024)

Identifiants

  • HAL Id : hal-04148817 , version 1

Citer

Camilo Andres Rey Arias, Wouter Weekers, Marco Morganti, Vincent Padois, Alessandro Saccon. Refined Post-Impact Velocity Prediction for Torque-Controlled Flexible-Joint Robots. IEEE Robotics and Automation Letters, In press. ⟨hal-04148817v1⟩
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