Force-Sensorless Contact Force Control of an Aerial Manipulator System

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

	Force-Sensorless Contact Force Control of an Aerial Manipulator System
	He YQ(何玉庆)1 ; Han JD(韩建达)1 ; Yan TF(闫腾飞)1; Wang QH(王骞翰)1; Meng XD(孟祥冬)1,2
	2018
会议日期	August 1-5, 2018
会议地点	Kandima, Maldives
页码	595-600
英文摘要	An aerial manipulator system consisting of a quadrotor UAV and a one-DOF manipulator is introduced for contacting operations in the air. As the system is interacting with external environment to do some operations, there will exist contact force. According to the practical aerial contact manipulation features, it is known that an aerial manipulator usually performs operations as the UAV platform is in hover flight or nearby. To realize controlling the force, the hovering UAV acting as a spring-mass-damper system is firstly proved. Then, based on the derived model and the impedance control algorithm, a contact force control method is presented. That is, the position error is controlled in order to control the contact force ultimately. The actual flight experiments show that the developed system is enable to realize the contact force control without a force sensor.
源文献作者	IEEE ; IEEE Robot & Automat Soc
产权排序	1
会议录	Proceedings of the 2018 IEEE International Conference on Real-time Computing and Robotics
会议录出版者	IEEE
会议录出版地	New York
语种	英语
ISBN号	978-1-5386-6869-6
WOS记录号	WOS:000459211400102
内容类型	会议论文
源URL	[http://ir.sia.cn/handle/173321/23850]
专题	沈阳自动化研究所_机器人学研究室
通讯作者	Meng XD(孟祥冬)
作者单位	1.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China 2.University of Chinese Academy of Sciences, Beijing 100049, China
推荐引用方式 GB/T 7714	He YQ,Han JD,Yan TF,et al. Force-Sensorless Contact Force Control of an Aerial Manipulator System[C]. 见:. Kandima, Maldives. August 1-5, 2018.