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Alternative TitleContact force control of aerial manipulator systems
孟祥冬1,2,3; 何玉庆1,2,4; 张宏达1,2,3; 杨丽英1,2; 谷丰1,2; 韩建达1,2
Source Publication控制理论与应用
Contribution Rank1
Funding Organization广东省科技计划项目(2017B010116002) ; 国家自然科学基金项目(91748130, 61433016)
Keyword飞行机械臂 接触操作 接触力控制 阻抗控制 弹簧-质量-阻尼系统
Other AbstractThe unmanned aerial vehicle (UAV) position response under an external force is studied, and the closed-loop UAV behaving as a spring-mass-damper system is theoretically proved for the first time. Based on the dynamic relationship analysis in the contact scenario, the orthogonal force control on a contact surface can be achieved without relying on a force sensor. According to the impedance control algorithm, a novel force-sensorless contact force control method is presented. That is, the contact force is indirectly controlled through controlling the UAV’s position error and attitude angle simultaneously. The whole system dynamics is presented for stability analysis. Besides, an innovative one degree-of-freedom aerial manipulator system is developed for the contact operation research, and validation experiments are conducted on it. The experimental results indicate that the proposed method contributes to achieving the contact force control.
Document Type期刊论文
Corresponding Author孟祥冬
Recommended Citation
GB/T 7714
孟祥冬,何玉庆,张宏达,等. 飞行机械臂系统的接触力控制[J]. 控制理论与应用,2019:1-10.
APA 孟祥冬,何玉庆,张宏达,杨丽英,谷丰,&韩建达.(2019).飞行机械臂系统的接触力控制.控制理论与应用,1-10.
MLA 孟祥冬,et al."飞行机械臂系统的接触力控制".控制理论与应用 (2019):1-10.
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