Robot interaction control is often limited to low dynamics or low flexibility, depending on whether an active or passive approach is chosen. In this work, we introduce a hybrid control scheme that combines the advantages of active and passive interaction control. To accomplish this, we propose the design of a novel Active Remote Center of Compliance (ARCC), which is based on a passive and active element which can be used to directly control the interaction forces. We introduce surrogate models for a dynamic comparison against purely robot-based interaction schemes. In a comparative validation, ARCC drastically improves the interaction dynamics, leading to an increase in the motion bandwidth of up to 31 times. We introduce further our control approach as well as the integration in the robot controller. Finally, we analyze ARCC on different industrial benchmarks like peg-in-hole, top-hat rail assembly and contour following problems and compare it against the state of the art, to highlight the dynamic and flexibility. The proposed system is especially suited if the application requires a low cycle time combined with a sensitive manipulation.

翻译：机器人交互控制通常受限于低动态性或低柔顺性，具体取决于选择主动还是被动控制方法。本研究提出一种混合控制方案，结合了主动与被动交互控制的优势。为实现这一目标，我们设计了一种基于被动与主动元件的新型主动远程柔顺中心（ARCC），可直接用于控制交互力。我们建立了替代模型，以动态对比纯机器人交互方案。在对比验证中，ARCC显著提升了交互动态性能，使运动带宽最高提升达31倍。本文进一步阐述了控制方法及其在机器人控制器中的集成。最后，我们通过轴孔装配、顶帽导轨组装及轮廓跟踪等不同工业基准任务对ARCC进行测试，并与现有技术对比，以凸显其动态性能与柔顺性。所提出的系统特别适用于需要短周期时间与精细操作相结合的应用场景。