Cressman Joseph, Pokharna Rahul, Newman Wyatt
Department of Electrical, Computer, and Systems Engineering, Case Western Reserve University, Cleveland, OH, United States.
Front Robot AI. 2023 Jul 18;10:1124207. doi: 10.3389/frobt.2023.1124207. eCollection 2023.
The demands of traditional industrial robotics differ significantly from those of space robotics. While industry requires robots that can perform repetitive tasks with precision and speed, the space environment needs robots to cope with uncertainties, dynamics, and communication delays or interruptions, similar to human astronauts. These demands make a well-suited application for compliant robotics and behavior-based programming. Pose Target Wrench Limiting (PTWL) is a compliant behavior paradigm developed specifically to meet these demands. PTWL controls a robot by moving a virtual attractor to a target pose. The attractor applies virtual forces, based on stiffness and damping presets, to an underlying admittance controller. Guided by virtual forces, the robot will follow the attractor until safety conditions are violated or success criteria are met. We tested PTWL on a variety of quasi-static tasks that may be useful for future space operations. Our results demonstrate that PTWL is an extremely powerful tool. It makes teleoperation easy and safe for a wide range of quasi-static tasks. It also facilitates the creation of semi-autonomous state machines that can reliably complete complex tasks with minimal human intervention.
传统工业机器人的需求与太空机器人的需求有很大不同。工业需要能够精确且快速执行重复性任务的机器人，而太空环境则需要机器人应对不确定性、动力学以及通信延迟或中断，这与人类宇航员类似。这些需求使得顺应式机器人技术和基于行为的编程成为合适的应用。姿态目标扳手限制（PTWL）是专门为满足这些需求而开发的一种顺应行为范式。PTWL通过将虚拟吸引子移动到目标姿态来控制机器人。该吸引子根据刚度和阻尼预设向底层导纳控制器施加虚拟力。在虚拟力的引导下，机器人将跟随吸引子，直到违反安全条件或满足成功标准。我们在各种可能对未来太空操作有用的准静态任务上测试了PTWL。我们的结果表明，PTWL是一个极其强大的工具。它使广泛的准静态任务的遥操作变得轻松且安全。它还便于创建能够以最少的人工干预可靠地完成复杂任务的半自主状态机。
