![Control Block Diagram Generation: This control block diagram embodies a hybrid force-position strategy of 'inner velocity loop + outer force loop'. The trajectory tracking module provides the desired end-effector velocity command v_pos for tangential motion, serving as the primary reference for the inner servo loop. Simultaneously, a six-dimensional force/torque sensor acquires contact force data, which is transformed to obtain the normal force F_z in the tool coordinate system. This F_z undergoes zero-offset calibration, amplitude limiting, and a second-order IIR low-pass filter to reduce noise. Subsequently, a Kalman filter is employed to online separate the slow-varying drift b(k), resulting in a stable normal force feedback F_z,f. The outer loop uses the desired normal force F_z,d and F_z,f to form a force error e_f, which is then used by a one-dimensional second-order impedance/admittance model Md ẍe + Bd ẋe + Kd xe = e_f to calculate the normal dynamic response. After two discrete integrations, the normal velocity correction v_z is obtained, leading to the construction of v_force=[0,0,v_z,0,0,0]^T. Finally, a selection matrix is used to synthesize v_pos and v_force at the velocity level, resulting in v_cmd=Sx v_pos+Sf v_force, which is sent to the robot's servo interface for execution at a period of Ts=2 ms. This enables the system to maintain tangential trajectory tracking while achieving constant force contact in the tool's z-direction, with the contact force fed back to the sensor to form a closed loop.](/_next/image?url=https%3A%2F%2Fpub-8c0ddfa5c0454d40822bc9944fe6f303.r2.dev%2Fai-drawings%2FnrWr7bcSgTx3io5vTHtCEbW9dOGillkF%2F6ccf7919-6bf8-42a8-a1d1-69fdda6790ea%2Ffb9bb477-79a1-47c5-9b60-f8f4c1815f9d.png&w=3840&q=75)
Prompt Description
Control Block Diagram Generation: This control block diagram embodies a hybrid force-position strategy of 'inner velocity loop + outer force loop'. The trajectory tracking module provides the desired end-effector velocity command v_pos for tangential motion, serving as the primary reference for the inner servo loop. Simultaneously, a six-dimensional force/torque sensor acquires contact force data, which is transformed to obtain the normal force F_z in the tool coordinate system. This F_z undergoes zero-offset calibration, amplitude limiting, and a second-order IIR low-pass filter to reduce noise. Subsequently, a Kalman filter is employed to online separate the slow-varying drift b(k), resulting in a stable normal force feedback F_z,f. The outer loop uses the desired normal force F_z,d and F_z,f to form a force error e_f, which is then used by a one-dimensional second-order impedance/admittance model Md ẍe + Bd ẋe + Kd xe = e_f to calculate the normal dynamic response. After two discrete integrations, the normal velocity correction v_z is obtained, leading to the construction of v_force=[0,0,v_z,0,0,0]^T. Finally, a selection matrix is used to synthesize v_pos and v_force at the velocity level, resulting in v_cmd=Sx v_pos+Sf v_force, which is sent to the robot's servo interface for execution at a period of Ts=2 ms. This enables the system to maintain tangential trajectory tracking while achieving constant force contact in the tool's z-direction, with the contact force fed back to the sensor to form a closed loop.
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