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 three baseline control approaches.

翻译：摘要：为促进有意冲击在机器人操作中的应用，本文提出一种直接解决执行名义同步冲击任务的机器人跟踪控制难题的控制框架。该框架是参考展开控制方法的扩展，其中定义了同时满足碰撞前后动力学特性的重叠参考轨迹。本工作中，此类参考轨迹基于遥操作方案构建。通过将对应的碰撞前/后控制模式纳入二次规划控制框架，在保持高精度跟踪性能的同时，避免了因冲击导致的加速度误差和控制输入峰值。通过引入新型过渡模式，本文旨在解决当环境不确定性导致实际发生非计划连续单次冲击而非预期同步冲击时，控制输入峰值与阶跃问题。本工作首次在机器人平台上完成参考展开控制的实验评估，验证了相较三种基准控制方法，该方法对环境不确定性具有更强的鲁棒性。