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Alternative TitleTowards Grasping Task: System and Control of an Aerial Manipulator
张广玉1,2; 何玉庆1; 代波1,2; 谷丰1; 杨丽英1; 韩建达1; 刘光军3
Source Publication机器人
Indexed ByEI ; CSCD
EI Accession number20191706814800
Contribution Rank1
Funding Organization国家自然科学基金(61433016,U1608253)
Keyword飞行机械臂 飞行抓取 飞行机器人 鲁棒控制
Other AbstractTowards target grasping by an aerial manipulator, an aerial manipulator system composed of a hex-rotor and a 7- DoF (degree of freedom) manipulator is presented, for which a separated control strategy is adopted, that is, the aerial vehicle and the manipulator are controlled separately. The variations of the system CoM (center of mass), inertia matrix caused by the manipulator movement and the corresponding derivatives are used to estimate the disturbing forces and moments on the aerial vehicle exerted by the manipulator. To attenuate the effect of the manipulator disturbance on the flight control performance of hex-rotor, a disturbance compensation H∞ robust flight controller is designed. The experiment results show that the disturbance compensation H∞ robust controller can obviously improve the flight performance of the aerial vehicle when the manipulator is moving, comparing with the controller without disturbance compensation. Finally, aerial grasping experiments are conducted to validate the reliability of the proposed aerial manipulator system.
Citation statistics
Cited Times:5[CSCD]   [CSCD Record]
Document Type期刊论文
Corresponding Author张广玉
Recommended Citation
GB/T 7714
张广玉,何玉庆,代波,等. 面向抓取作业的飞行机械臂系统及其控制[J]. 机器人,2019,41(1):19-29.
APA 张广玉.,何玉庆.,代波.,谷丰.,杨丽英.,...&刘光军.(2019).面向抓取作业的飞行机械臂系统及其控制.机器人,41(1),19-29.
MLA 张广玉,et al."面向抓取作业的飞行机械臂系统及其控制".机器人 41.1(2019):19-29.
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