无人机机械臂末端力估计方法

2019 Workshop on Research, Education and Development of Unmanned Aerial Systems (RED UAS) Pub Date : 2019-11-01 DOI:10.1109/REDUAS47371.2019.8999670

Kresimir Turkovic, Marko Car, Mark Orsag

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引用次数: 4

摘要

本文详细介绍了无人机机械臂末端执行器力的估计问题。为了估计力，假设作用在末端执行器上的力与机械臂关节相对于未加载的机械臂的转矩变化之间存在联系。给出了该环节的牛顿-欧拉动力学模型和机械臂的雅可比矩阵。在飞行器上安装的机械臂上进行了多次实验，验证了力估计的正确性。

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End-effector force estimation method for an unmanned aerial manipulator

This paper presents a detailed description of the end-effector force estimation of a robotic manipulator attached to an unmanned aerial vehicle. In order to estimate the force, it is assumed that there is a link between the force acting on the end-effector and the change of the torques in the joints of the manipulator in relation to the unloaded manipulator. This link was presented with Newton-Euler’s dynamic model and the Jacobian matrix of the manipulator. The force estimation was tested and validated on several experiments of a manipulator mounted on the aerial vehicle.

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来源期刊

2019 Workshop on Research, Education and Development of Unmanned Aerial Systems (RED UAS)

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