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Alternative TitleHybrid Force/Position Control of Aerial Manipulators in Contact Operation
孟祥冬1,2,3; 何玉庆1,2,4; 韩建达1,2
Source Publication机器人
Contribution Rank1
Funding Organization国家自然科学基金(61433016,U1508208);广东省科技计划(2017B010116002)
Keyword飞行机器人 飞行机械臂 接触作业 力/位置混合控制


Other Abstract

For the contact operation problem of the aerial manipulator system during moving, a hybrid force and position control framework is applied to controlling the system to contact with the external environment continuously and reliably with a constant force, and implement the desired trajectory tracking during the contact process. Firstly, the workspace is divided into two sub-spaces, i.e. the constrained space and the free-flight space, where the contact force control and position control are adopted respectively. For the force control problem, the closed-loop UAV (unmanned aerial vehicle) system is proven to behave as a spring-mass-damper-like system, and an inverse-dynamics-based controller is designed to implement the contact force control in the constrained sub-space. The motion control in free-flight space depends on trajectory planning and position controllers. Finally, a 1-DOF (degree-of-freedom) aerial manipulator system based on a hex-rotor UAV is developed, and the system is commanded to track a oblique line trajectory in flight mode while contacting with wall surface. The results indicate that the proposed method contributes to maintaining steady motion, and controlling the desired contact force. Keywords: aerial

Document Type期刊论文
Corresponding Author孟祥冬
Recommended Citation
GB/T 7714
孟祥冬,何玉庆,韩建达. 接触作业型飞行机械臂系统的力/位置混合控制[J]. 机器人,2020,42(2):167-178.
APA 孟祥冬,何玉庆,&韩建达.(2020).接触作业型飞行机械臂系统的力/位置混合控制.机器人,42(2),167-178.
MLA 孟祥冬,et al."接触作业型飞行机械臂系统的力/位置混合控制".机器人 42.2(2020):167-178.
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