Contact Force Control of an Aerial Manipulator in Pressing an Emergency Switch Process

CORC > 沈阳自动化研究所 > 中国科学院沈阳自动化研究所 > 机器人学研究室

	Contact Force Control of an Aerial Manipulator in Pressing an Emergency Switch Process
	He YQ(何玉庆)2,3 ; Meng XD(孟祥冬)1,2 ; Li Q(李琦)2 ; Gu F(谷丰)2 ; Yang LY(杨丽英)2 ; Yan TF(闫腾飞)2; Han JD(韩建达)2
	2018
会议日期	October 1-5, 2018
会议地点	Madrid, Spain
页码	2107-2113
英文摘要	The dangerous work situation in industrial leakage accidents urgently needs a flexible and small robot to help workers perform operations and to protect them from being injured. An aerial manipulator system consisting of a hexa-rotor UAV and a one-DOF manipulator is developed, and is used to press an emergency switch to shut off machinery in an emergency. In practical application, an aerial manipulator usually performs contact operations as the UAV platform is in hover flight. The hovering UAV acting as a spring-mass-damper system is firstly proved. Then, based on the derived spring-mass-damper system model and the impedance control algorithm, the force-sensorless contact force control method is presented. That is, the force is indirectly controlled through controlling the UAV’s position error and pitch angle simultaneously. The practical operation experiment of pressing an emergency button shows that the proposed method is able to control the contact force as the aerial manipulator interacts with the external environment.
产权排序	1
会议录	2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2018)
会议录出版者	IEEE
会议录出版地	New York
语种	英语
ISSN号	2153-0858
ISBN号	978-1-5386-8094-0
WOS记录号	WOS:000458872702022
内容类型	会议论文
源URL	[http://ir.sia.cn/handle/173321/23848]
专题	沈阳自动化研究所_机器人学研究室
通讯作者	He YQ(何玉庆); Meng XD(孟祥冬)
作者单位	1.University of Chinese Academy of Sciences, Beijing 100049, China 2.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China 3.Shenyang Institute of Automation (Guangzhou), Chinese Academy of Sciences, Guangzhou Guangdong 511458, China
推荐引用方式 GB/T 7714	He YQ,Meng XD,Li Q,et al. Contact Force Control of an Aerial Manipulator in Pressing an Emergency Switch Process[C]. 见:. Madrid, Spain. October 1-5, 2018.