Robotic Valve Turning: Axial Misalignment Correction Using Reaction Torque Feedback

2026-09-21

AI Summary

本文提出一种利用反作用扭矩反馈纠正机器人阀门操作中轴向错位的方法，并通过实验验证了其稳定性和鲁棒性。

Abstract

In this work, we propose a haptic update control law that uses reaction torques to correct axial misalignment during robotic valve manipulation. Unlike vision-based estimates, which can be affected by calibration errors, occlusion, and uncertainty in the contact geometry, reaction torques arise directly from the physical interaction between the gripper and valve. A geometric relationship exists between the error (misalignment) vector and these torques. The primary aim of this work is to propose a stable controller exploiting this geometric property. Our control law is proven to be uniformly asymptotically stable. Simulations are performed for verification. Furthermore, we experimentally test the robustness of our method using a Kinova Gen3 robotic arm for initial misalignments ranging from $-15^\circ$ to $15^\circ$ at 3 different valve positions and report the resulting data distribution. The absolute value of the median misalignment across all 18 test cases is found to be within $2.46^\circ$ and that of reaction torques within $0.23\mathrm{Nm}$.

Problem

• Robotic Valve Turning
• Axial Misalignment
• Reaction Torque

Innovation

• haptic update control law
• reaction torques
• axial misalignment correction
• uniformly asymptotically stable