With the goal of increasing the speed and efficiency in robotic dual arm manipulation, a novel control approach is presented that utilizes intentional simultaneous impacts to rapidly grasp objects. This approach uses the time-invariant reference spreading framework, in which partly-overlapping ante- and post-impact reference vector fields are used. These vector fields are coupled via the impact dynamics in proximity of the expected impact area, minimizing the otherwise large velocity errors after the impact and the corresponding large control efforts. A purely spatial task is introduced to strongly encourage the synchronization of impact times of the two arms. An interim-impact control phase provides robustness in the execution against the inevitable lack of exact impact simultaneity and the corresponding unreliable velocity error. In this interim phase, a position feedback signal is derived from the ante-impact velocity reference, which is used to enforce sustained contact in all contact points without using velocity error feedback. With an eye towards real-life implementation, the approach is formulated using a QP control framework, and is validated using numerical simulations on a realistic robot model with flexible joints and low-level torque control.

翻译：摘要：为提升机器人双臂操作的速度与效率，本文提出一种新颖的控制方法，该方法利用有意识的同时冲击来快速抓取物体。该方案采用时不变参考扩展框架，其中使用部分重叠的冲击前与冲击后参考矢量场。这些矢量场通过预期冲击区域附近的冲击动力学耦合，从而在冲击后最小化原本较大的速度误差及相应的控制力。引入纯空间任务以强有力促进两臂冲击时间的同步。针对冲击无法完全同时发生及其导致不可靠速度误差的现实问题，设计了冲击中间控制阶段以增强执行鲁棒性。在该阶段中，基于冲击前速度参考推导位置反馈信号，用于在所有接触点维持持续接触，而无需速度误差反馈。为面向实际部署，该方法基于二次规划控制框架构建，并通过具有柔性关节与底层力矩控制的真实机器人模型数值仿真验证其有效性。