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Contact Force Control of an Aerial Manipulator in Pressing an Emergency Switch Process
Meng XD(孟祥冬)1,2; He YQ(何玉庆)1,3; Li Q(李琦)1; Gu F(谷丰)1; Yang LY(杨丽英)1; Yan TF(闫腾飞)1; Han JD(韩建达)1
Department机器人学研究室
Conference Name2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2018)
Conference DateOctober 1-5, 2018
Conference PlaceMadrid, Spain
Source Publication2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2018)
PublisherIEEE
Publication PlaceNew York
2018
Pages2107-2113
Indexed ByEI ; CPCI(ISTP)
EI Accession number20191206649851
WOS IDWOS:000458872702022
Contribution Rank1
ISSN2153-0858
ISBN978-1-5386-8094-0
AbstractThe dangerous work situation in industrial leakage accidents urgently needs a flexible and small robot to help workers perform operations and to protect them from being injured. An aerial manipulator system consisting of a hexa-rotor UAV and a one-DOF manipulator is developed, and is used to press an emergency switch to shut off machinery in an emergency. In practical application, an aerial manipulator usually performs contact operations as the UAV platform is in hover flight. The hovering UAV acting as a spring-mass-damper system is firstly proved. Then, based on the derived spring-mass-damper system model and the impedance control algorithm, the force-sensorless contact force control method is presented. That is, the force is indirectly controlled through controlling the UAV’s position error and pitch angle simultaneously. The practical operation experiment of pressing an emergency button shows that the proposed method is able to control the contact force as the aerial manipulator interacts with the external environment.
Language英语
Citation statistics
Document Type会议论文
Identifierhttp://ir.sia.cn/handle/173321/23848
Collection机器人学研究室
Corresponding AuthorMeng XD(孟祥冬); He YQ(何玉庆)
Affiliation1.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China
2.University of Chinese Academy of Sciences, Beijing 100049, China
3.Shenyang Institute of Automation (Guangzhou), Chinese Academy of Sciences, Guangzhou Guangdong 511458, China
Recommended Citation
GB/T 7714
Meng XD,He YQ,Li Q,et al. Contact Force Control of an Aerial Manipulator in Pressing an Emergency Switch Process[C]. New York:IEEE,2018:2107-2113.
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