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Design and Implementation of a Contact Aerial Manipulator System for Glass-Wall Inspection Tasks
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
Pages215-220
Indexed ByEI ; CPCI(ISTP)
EI Accession number20201108294905
WOS IDWOS:000544658400024
Contribution Rank1
ISSN2153-0858
ISBN978-1-7281-4004-9
AbstractGlass curtain walls have been widely used in modern architecture. This makes it urgent to inspect and clean these glasses at regular intervals. Up to now, most of these work is performed by workers, which is expensive and inefficient. Therefore, a novel robot - The contact aerial manipulator system - is developed. The new designed system presents priorities in the aspects of high flexibility and easy operation. In this paper, the system mechanical structure is first introduced. Subsequently, the hybrid force/motion control framework is utilized to realize the precise and steady motion on the two-dimensional plane and maintain a certain sustained contact force, simultaneously. Finally, two flight experiments (including continuous square-wave trajectory tracking and aerial drawing task) are performed and the results indicate that the developed contact aerial manipulator works and presents good performance.
Language英语
Citation statistics
Document Type会议论文
Identifierhttp://ir.sia.cn/handle/173321/26427
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. Design and Implementation of a Contact Aerial Manipulator System for Glass-Wall Inspection Tasks[C]. New York:IEEE,2019:215-220.
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