| 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
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| Department | 机器人学研究室 |
| Conference Name | 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2019 |
| Conference Date | November 3-8, 2019 |
| Conference Place | Macau, China |
| Source Publication | 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2019 |
| Publisher | IEEE |
| Publication Place | New York |
| 2019 | |
| Pages | 3678-3683 |
| Indexed By | EI ; CPCI（ISTP） |
| EI Accession number | 20201108294642 |
| WOS ID | WOS:000544658403006 |
| Contribution Rank | 1 |
| ISSN | 2153-0858 |
| ISBN | 978-1-7281-4004-9 |
| Abstract | Contact-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 | |
| Document Type | 会议论文 |
| Identifier | http://ir.sia.cn/handle/173321/26425 |
| Collection | 机器人学研究室 |
| Corresponding Author | Meng XD(孟祥冬) |
| Affiliation | 1.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. |
| Files in This Item: | ||||||
| File Name/Size | DocType | Version | Access | License | ||
| Hybrid Force Motion （1813KB） | 会议论文 | 开放获取 | CC BY-NC-SA | View Application Full Text | ||
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