四轴飞行器锤击检测单自由度机械臂控制的初步研究

2015 International Symposium on Micro-NanoMechatronics and Human Science (MHS) Pub Date : 2015-11-01 DOI:10.1109/MHS.2015.7438311

Takahiro Ikeda, K. Ohara, A. Ichikawa, T. Fukuda

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引用次数: 3

摘要

本文对混凝土桥梁锤击校核用四轴飞行器单自由度机械手的控制进行了初步研究。由于物体表面的角度，四轴飞行器使其身体倾斜。因此，需要一个自由度机械手来保持一个适合于检测的锤击单元的姿态。本文介绍了四轴飞行器的机械臂及其控制策略。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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Pilot study on control of one DoF manipulator on quadcopter for hammering check

This paper describes a pilot study on control of one DoF manipulator on a quadcopter for hammering check of concrete bridges. The quadcopter leans its body due to an angle of an objective surface. Therefore, one DoF manipulator is required to keep an attitude of a hammering unit suitable for an inspection. We introduce our quadcopter with the manipulator and control strategy of the manipulator in this paper.

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2015 International Symposium on Micro-NanoMechatronics and Human Science (MHS)

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