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 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 reference spreading control on a robotic setup, showcasing its robustness against uncertainty in the environment compared to two baseline control approaches.

翻译：为促进有意冲击在机器人操作中的进一步应用，本文提出一种控制框架，直接应对执行标称同步冲击任务的机器人操作器跟踪控制所面临的挑战。该框架是参考扩散控制方法的扩展，其中定义了与冲击动力学一致的、重叠的冲击前和冲击后参考轨迹。本研究基于遥操作方法构建此类参考轨迹。通过在二次规划控制框架中采用相应的冲击前/冲击后控制模式，可在保持高跟踪性能的同时避免由冲击引起的速度误差与控制输入峰值。通过引入新颖的中间过渡模式，我们旨在当环境不确定性导致实际发生一系列非规划的单次冲击而非规划同步冲击时，同样避免输入峰值与阶跃。本文首次在机器人实验平台上对参考扩散控制方法进行实验评估，展示其相较于两种基线控制方法在应对环境不确定性方面的鲁棒性。