Force-Sensorless Contact Force Control of an Aerial Manipulator System
文献类型：会议论文
| 作者 | 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
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| 出版日期 | 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
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| 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 |
| 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. |
入库方式： OAI收割
来源：沈阳自动化研究所
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