With the aim of further enabling the exploitation of intentional impacts in robotic manipulation, a control framework is presented that directly tackles the challenges posed by tracking control of robotic manipulators that are tasked to perform nominally simultaneous impacts. This framework is an extension of the reference spreading (RS) control framework, in which overlapping ante- and post-impact references that are consistent with impact dynamics are defined. In this work, such a reference is constructed starting from a teleoperation-based approach. By using the corresponding ante- and post-impact control modes in the scope of a quadratic programming control approach, peaking of the velocity error and control inputs due to impacts is avoided while maintaining high tracking performance. With the inclusion of a novel interim mode, we aim to also avoid input peaks and steps when uncertainty in the environment causes a series of unplanned single impacts to occur rather than the planned simultaneous impact. This work in particular presents for the first time an experimental evaluation of RS control on a robotic setup, showcasing its robustness against uncertainty in the environment compared to three baseline control approaches.

中文翻译：

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基于二次规划的参考传播控制，用于具有计划同时影响的双臂机器人操作


为了进一步实现机器人操纵中有意影响的利用，提出了一种控制框架，该框架直接解决了机器人操纵器跟踪控制所带来的挑战，这些机器人操纵器的任务是执行名义上同时的影响。该框架是参考扩散（RS）控制框架的扩展，其中定义了与影响动态一致的重叠的影响前和影响后参考。在这项工作中，这样的参考是从基于远程操作的方法开始构建的。通过在二次规划控制方法的范围内使用相应的撞击前和撞击后控制模式，避免了由于撞击而导致的速度误差和控制输入的峰值，同时保持了高跟踪性能。通过纳入一种新颖的临时模式，我们的目标还在于当环境的不确定性导致发生一系列计划外的单一影响而不是计划的同时影响时，避免输入峰值和步骤。这项工作特别首次对机器人设置上的 RS 控制进行了实验评估，与三种基线控制方法相比，展示了其针对环境不确定性的鲁棒性。