Design and Implementation of a Contact Aerial Manipulator System for Glass-Wall Inspection Tasks

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

	Design and Implementation of a Contact Aerial Manipulator System for Glass-Wall Inspection Tasks
	Meng XD(孟祥冬)2,3,4; He YQ(何玉庆)1,2,3; Han JD(韩建达)2,5
	2019
会议日期	November 3-8, 2019
会议地点	Macau, China
页码	215-220
英文摘要	Glass curtain walls have been widely used in modern architecture. This makes it urgent to inspect and clean these glasses at regular intervals. Up to now, most of these work is performed by workers, which is expensive and inefficient. Therefore, a novel robot - The contact aerial manipulator system - is developed. The new designed system presents priorities in the aspects of high flexibility and easy operation. In this paper, the system mechanical structure is first introduced. Subsequently, the hybrid force/motion control framework is utilized to realize the precise and steady motion on the two-dimensional plane and maintain a certain sustained contact force, simultaneously. Finally, two flight experiments (including continuous square-wave trajectory tracking and aerial drawing task) are performed and the results indicate that the developed contact aerial manipulator works and presents good performance.
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:000544658400024
内容类型	会议论文
源URL	[http://ir.sia.cn/handle/173321/26427]
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.State Key Laboratory of Robotics, Shenyang Institute of Automation, inese Academy of Sciences, Shenyang 110016 3.Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang 110016, China 4.University of Chinese Academy of Sciences, Beijing 100049, China 5.Nankai University, Tianjin 300071, China
推荐引用方式 GB/T 7714	Meng XD,He YQ,Han JD. Design and Implementation of a Contact Aerial Manipulator System for Glass-Wall Inspection Tasks[C]. 见:. Macau, China. November 3-8, 2019.