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Hybrid Force/Motion Control and Implementation of an Aerial Manipulator towards Sustained Contact Operations
Meng XD(孟祥冬)1,2,3; He YQ(何玉庆)1,2,4; Han JD(韩建达)1,5
Department机器人学研究室
Conference Name2019 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2019
Conference DateNovember 3-8, 2019
Conference PlaceMacau, China
Source Publication2019 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2019
PublisherIEEE
Publication PlaceNew York
2019
Pages3678-3683
Indexed ByEI ; CPCI(ISTP)
EI Accession number20201108294642
WOS IDWOS:000544658403006
Contribution Rank1
ISSN2153-0858
ISBN978-1-7281-4004-9
AbstractContact-based operation in moving process is a challenging problem for aerial manipulators. It requires the whole system to maintain steady contact with external environment, to track some predefined trajectories on surfaces, and simultaneously to present some fixed contact force. Aiming at this problem, a hybrid force/motion control framework is proposed in this paper. In this framework, contact force control and position control are performed separately in two orthogonal subspaces: constrained space and free-flight space. To control the contact force, the closed-loop unmanned aerial vehicle is first theoretically shown to behave dynamically as a spring-mass-damper system. Further, an inverse-dynamics-based controller is proposed. To control the moving along the contact surface, trajectory planning and position controller are combined to achieve the steady behavior in a free-flight subspace. In the end, an aerial manipulator system with a roller-type end-effector was designed, and practical flight experiments was performed. The results indicate that the proposed framework is effective and validity.
Language英语
Citation statistics
Cited Times:1[WOS]   [WOS Record]     [Related Records in WOS]
Document Type会议论文
Identifierhttp://ir.sia.cn/handle/173321/26425
Collection机器人学研究室
Corresponding AuthorMeng XD(孟祥冬)
Affiliation1.State Key Laboratory of Robotics, Shenyang Institute of Automation, inese Academy of Sciences, Shenyang 110016
2.Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang 110016, China
3.University of Chinese Academy of Sciences, Beijing 100049, China
4.Shenyang Institute of Automation (Guangzhou), Chinese Academy of Sciences, Guangdong 511458, China
5.Nankai University, Tianjin 300071, China
Recommended Citation
GB/T 7714
Meng XD,He YQ,Han JD. Hybrid Force/Motion Control and Implementation of an Aerial Manipulator towards Sustained Contact Operations[C]. New York:IEEE,2019:3678-3683.
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