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：为实现机器人操作中有意冲击的充分利用，本文提出一种控制框架，直接应对需执行标称同步冲击的机器人操作器跟踪控制挑战。该框架是参考扩展控制方法的延伸，其中定义了与冲击动力学一致的碰撞前/后重叠参考。本文从遥操作路径出发构建此类参考，通过将二次规划控制框架中的前/后冲击控制模式相结合，在保持高跟踪性能的同时避免了速度误差及冲击引起的控制输入峰值。通过引入新型过渡模式，目标是在环境不确定性导致计划同步冲击演变为非计划序列单次冲击时，同样避免输入峰值与阶跃响应。本文首次在机器人平台上完成参考扩展控制的实验评估，与三种基线控制方法相比，验证了该方法对环境不确定性的鲁棒性。