一种新型空中操纵实验干扰装置

Ben Marshall, J. Knowles, Yunda Yan, Cunjia Liu
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引用次数: 0

摘要

在过去的十年中,配备了操纵器的无人机在完成复杂任务(如操纵门和抽屉)方面的能力有所提高。最近的工作还包括一些非恒定动力学的任务,比如在摩擦系数变化的表面上推着一辆车,或者从插座上拔下电源插头。这些任务很难设计和比较控制器,因为它们的动态很复杂,它们的行为可能不一致。本文提出了一种可调和可重复的机制,用于比较不同控制器设计的实验。所提出的机构,称为过中心机构,可以提供一个非线性的阻力,可以很容易地修改不同的力的大小。此外,它可以快速重新定向,以干扰高度或位置通道的车辆有或没有操纵器。本文对三种传统观测器设计和基线控制器在两种不同工况下的性能进行了实验比较。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
A Novel Disturbance Device for Aerial Manipulation Experiments
In the last decade, UAVs endowed with manipulators have increased in their ability to complete complex tasks such as manipulating doors and drawers. Very recent work also includes tasks with non-constant dynamics such as pushing a cart along a surface with a change in friction coefficient or pulling an electrical plug from a socket. These tasks are hard to design and compare controllers for because their dynamics are complex and they may not behave consistently. This paper proposes a tunable and repeatable mechanism for use in experiments that compare different controller designs. The proposed mechanism, called an overcentre mechanism, can provide a nonlinear resistive force and can be easily modified for different force magnitudes. Additionally, it can be quickly re-oriented to disturb altitude or position channels for vehicles with or without manipulators. This paper experimentally compares three traditional observer designs and a baseline controller in two different operating conditions.
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