Robotic Valve Turning: Axial Misalignment Correction Using Reaction Torque Feedback

Engineering notes

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Chinese explanation / 中文解读

中文解读待补充：本站会优先为 VLA、具身智能、人形机器人控制、机器人操作等高价值论文补充中文说明。

Original 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 $0.23\mathrm{Nm}$.

Links and sources

• Official / arXiv page
• PDF from original source

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