This study proposes novel control methods that lower impact force by preemptive movement and smoothly transition to conventional contact impedance control. These suggested techniques are for force control-based robots and position/velocity control-based robots, respectively. Strong impact forces have a negative influence on multiple robotic tasks. Recently, preemptive impact reduction techniques that expand conventional contact impedance control by using proximity sensors have been examined. However, a seamless transition from impact reduction to contact impedance control has not yet been accomplished. The proposed methods utilize a serial combined impedance control framework to solve this problem. The preemptive impact reduction feature can be added to the already implemented impedance controller because the parameter design is divided into impact reduction and contact impedance control. There is no undesirable contact force during the transition. Furthermore, even though the preemptive impact reduction employs a crude optical proximity sensor, the influence of reflectance is minimized using a virtual viscous force. Analyses and real-world experiments confirm these benefits.

翻译：本研究提出了两种新型控制方法，分别针对基于力控制的机器人和基于位置/速度控制的机器人，通过预判性运动降低冲击力，并平滑过渡至传统接触阻抗控制。强力冲击对多项机器人任务产生负面影响。近年来，利用接近传感器扩展传统接触阻抗控制的预判性冲击减缓技术已得到研究。然而，从冲击减缓到接触阻抗控制的无缝过渡尚未实现。所提方法采用串联组合阻抗控制框架来解决这一问题。由于参数设计被划分为冲击减缓与接触阻抗控制两部分，预判性冲击减缓功能可添加至已实现的阻抗控制器中，且过渡过程中不会产生不良接触力。此外，尽管预判性冲击减缓使用了简易光学接近传感器，但通过引入虚拟粘性力可将反射率影响降至最低。分析与实际实验验证了上述优势。