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Pré-Publication, Document De Travail Année : 2023

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

Résumé

Predicting the post-impact velocity for torque-controlled flexible-joint robots enhances impact-aware control schemes which exploit intentional collisions for achieving dynamic robotic manipulation and locomotion. Compared to a previous approach based on a fully rigid-robot assumption, this paper shows how an improvement in the post-impact velocity prediction can be obtained by taking into account the joints’ motor inertias, transmission ratios, and low-level torque control gains, as well as the impact surface friction. The paper also proposes a more robust method to estimate the gross post-impact velocity profile from experimental data via a polynomial fit. The improvement of the new post-impact velocity prediction is illustrated by means of both numerical simulations as well as 50 experimental trials on a commercially available torque-controlled robot. The recorded impact data and prediction algorithms are shared openly for reproducibility and further research.
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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)

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  • HAL Id : hal-04148817 , version 2

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Camilo Andres Rey Arias, Wouter Weekers, Marco Morganti, Vincent Padois, Alessandro Saccon. Refined Post-Impact Velocity Prediction for Torque-Controlled Flexible-Joint Robots. 2023. ⟨hal-04148817v2⟩
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