Hybrid Force/Motion Control and Implementation of an Aerial Manipulator towards Sustained Contact Operations

CORC > 沈阳自动化研究所 > 中国科学院沈阳自动化研究所 > 机器人学研究室

	Hybrid Force/Motion Control and Implementation of an Aerial Manipulator towards Sustained Contact Operations
	Meng XD(孟祥冬)2,3,4; He YQ(何玉庆)1,3,4; Han JD(韩建达)3,5
	2019
会议日期	November 3-8, 2019
会议地点	Macau, China
页码	3678-3683
英文摘要	Contact-based operation in moving process is a challenging problem for aerial manipulators. It requires the whole system to maintain steady contact with external environment, to track some predefined trajectories on surfaces, and simultaneously to present some fixed contact force. Aiming at this problem, a hybrid force/motion control framework is proposed in this paper. In this framework, contact force control and position control are performed separately in two orthogonal subspaces: constrained space and free-flight space. To control the contact force, the closed-loop unmanned aerial vehicle is first theoretically shown to behave dynamically as a spring-mass-damper system. Further, an inverse-dynamics-based controller is proposed. To control the moving along the contact surface, trajectory planning and position controller are combined to achieve the steady behavior in a free-flight subspace. In the end, an aerial manipulator system with a roller-type end-effector was designed, and practical flight experiments was performed. The results indicate that the proposed framework is effective and validity.
产权排序	1
会议录	2019 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2019
会议录出版者	IEEE
会议录出版地	New York
语种	英语
ISSN号	2153-0858
ISBN号	978-1-7281-4004-9
WOS记录号	WOS:000544658403006
内容类型	会议论文
源URL	[http://ir.sia.cn/handle/173321/26425]
专题	沈阳自动化研究所_机器人学研究室
通讯作者	Meng XD(孟祥冬)
作者单位	1.Shenyang Institute of Automation (Guangzhou), Chinese Academy of Sciences, Guangdong 511458, China 2.University of Chinese Academy of Sciences, Beijing 100049, China 3.State Key Laboratory of Robotics, Shenyang Institute of Automation, inese Academy of Sciences, Shenyang 110016 4.Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang 110016, China 5.Nankai University, Tianjin 300071, China
推荐引用方式 GB/T 7714	Meng XD,He YQ,Han JD. Hybrid Force/Motion Control and Implementation of an Aerial Manipulator towards Sustained Contact Operations[C]. 见:. Macau, China. November 3-8, 2019.