力控与柔顺控制

操作中的力控制策略：阻抗控制、导纳控制、混合位置/力控制和柔顺装配任务。

Learning Objectives

1. Why Force Control?

1.1 Position Control Limitations

1.2 Contact-Rich Tasks

2. Impedance Control

2.1 Mass-Spring-Damper Model

2.2 Impedance Control Law

2.3 Python Simulation

3. Admittance Control

3.1 From Impedance to Admittance

3.2 Implementation

4. Hybrid Position/Force Control

4.1 Task Frame Formulation

4.2 Selection Matrix

4.3 Raibert's Hybrid Controller

5. Compliant Assembly

5.1 Peg-in-Hole Problem

5.2 Spiral Search Strategy

5.3 Remote Center of Compliance (RCC)

6. Force/Torque Sensing

7. ROS 2 Force Control Integration

Exercises

References