Abstract
This paper proposes a control method for robotic hammering that can attenuate the reaction torques on the robot’s joints while maintaining a sufficient impact on the environment. A key challenge in hammering tasks is this trade-off between delivering a sufficient impact and preventing damage to the manipulator. The proposed method addresses this conflict by generating the entire pre-collision trajectory, including the required initial posture, by calculating backward in time from a desired state at the moment of impact. The trajectory consists of a preparatory backswing and a striking motion, both tracked using a PD controller. To further attenuate reaction torques, a feedforward torque pulse is applied to the final joint just before impact. After impact, a force-controlled lift-up mode is activated to raise the hammer and return the robot to its initial posture. The effectiveness of the proposed method is validated through experiments, demonstrating an attenuation in joint torque.