Model-Less Hybrid Position/Force Control: A Minimalist Approach for Continuum Manipulators in Unknown, Constrained Environments

摘要

Continuum manipulators are designed to operate in constrained environments that are often unknown or unsensed, relying on body compliance to conform to obstacles. The interaction mechanics between the compliant body and unknown environment present significant challenges for traditional robot control techniques based on modeling these interactions exactly. In this letter, we describe a hybrid position/force control method that uses a model-less approach. Model-less control is a recently-described approach to control that learns the continuum manipulator Jacobian and adapts to constraints in the environment in a safe manner. When interacting with the environment using the end-effector, these tip-constraints can affect the manipulator Jacobian estimates to become ill-conditioned. This letter addresses this issue by defining a hybrid control approach for simultaneously controlling end-effector position and forces while still maintaining the minimalist approach of model-less control. Under this method, continuum manipulators can safely and effectively interact with the environment, even when these interactions are arbitrary and unknown constraints.