基于有限状态机和超声波测距的空中机械手自动抓取方法

Q3 Earth and Planetary Sciences

Aerospace Systems Pub Date : 2024-01-13 DOI:10.1007/s42401-023-00264-z

Dingcheng Pu, Xiangming Dun, Zhongliang Jing

{"title":"基于有限状态机和超声波测距的空中机械手自动抓取方法","authors":"Dingcheng Pu, Xiangming Dun, Zhongliang Jing","doi":"10.1007/s42401-023-00264-z","DOIUrl":null,"url":null,"abstract":"<div><p>This paper introduces an experiment-based recognition and grasping control method for aerial manipulators. The method consists of two parts: an automatic grasping process using a finite state machine, and an ultrasonic ranging principle. The D–H parameter method is utilized for analyzing the manipulator’s degree of freedoms, equipped with bus servos controlled via serial communication. The proposed strategy is evaluated using a practical experiment of the aerial manipulator system. This research contributes to the field of aerial manipulators by providing a robust and flexible way of grasping targets.</p></div>","PeriodicalId":36309,"journal":{"name":"Aerospace Systems","volume":null,"pages":null},"PeriodicalIF":0.0000,"publicationDate":"2024-01-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":"{\"title\":\"Finite state machine and ultrasonic ranging-based approach for automatic grasping by aerial manipulator\",\"authors\":\"Dingcheng Pu, Xiangming Dun, Zhongliang Jing\",\"doi\":\"10.1007/s42401-023-00264-z\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"<div><p>This paper introduces an experiment-based recognition and grasping control method for aerial manipulators. The method consists of two parts: an automatic grasping process using a finite state machine, and an ultrasonic ranging principle. The D–H parameter method is utilized for analyzing the manipulator’s degree of freedoms, equipped with bus servos controlled via serial communication. The proposed strategy is evaluated using a practical experiment of the aerial manipulator system. This research contributes to the field of aerial manipulators by providing a robust and flexible way of grasping targets.</p></div>\",\"PeriodicalId\":36309,\"journal\":{\"name\":\"Aerospace Systems\",\"volume\":null,\"pages\":null},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2024-01-13\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"0\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"Aerospace Systems\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://link.springer.com/article/10.1007/s42401-023-00264-z\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"Q3\",\"JCRName\":\"Earth and Planetary Sciences\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"Aerospace Systems","FirstCategoryId":"1085","ListUrlMain":"https://link.springer.com/article/10.1007/s42401-023-00264-z","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q3","JCRName":"Earth and Planetary Sciences","Score":null,"Total":0}

引用次数: 0

摘要

本文介绍了一种基于实验的航空机械手识别和抓取控制方法。该方法由两部分组成：使用有限状态机的自动抓取过程和超声波测距原理。利用 D-H 参数法分析机械手的自由度，机械手配备了通过串行通信控制的总线舵机。利用航空机械手系统的实际实验对所提出的策略进行了评估。这项研究为空中机械手领域做出了贡献，提供了一种稳健而灵活的抓取目标的方法。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

Finite state machine and ultrasonic ranging-based approach for automatic grasping by aerial manipulator

查看原文本刊更多论文

Finite state machine and ultrasonic ranging-based approach for automatic grasping by aerial manipulator

This paper introduces an experiment-based recognition and grasping control method for aerial manipulators. The method consists of two parts: an automatic grasping process using a finite state machine, and an ultrasonic ranging principle. The D–H parameter method is utilized for analyzing the manipulator’s degree of freedoms, equipped with bus servos controlled via serial communication. The proposed strategy is evaluated using a practical experiment of the aerial manipulator system. This research contributes to the field of aerial manipulators by providing a robust and flexible way of grasping targets.

求助全文

通过发布文献求助，成功后即可免费获取论文全文。去求助

来源期刊

Aerospace Systems Social Sciences-Social Sciences (miscellaneous)

CiteScore

1.80

自引率

0.00%

发文量

期刊介绍： Aerospace Systems provides an international, peer-reviewed forum which focuses on system-level research and development regarding aeronautics and astronautics. The journal emphasizes the unique role and increasing importance of informatics on aerospace. It fills a gap in current publishing coverage from outer space vehicles to atmospheric vehicles by highlighting interdisciplinary science, technology and engineering. Potential topics include, but are not limited to: Trans-space vehicle systems design and integration Air vehicle systems Space vehicle systems Near-space vehicle systems Aerospace robotics and unmanned system Communication, navigation and surveillance Aerodynamics and aircraft design Dynamics and control Aerospace propulsion Avionics system Opto-electronic system Air traffic management Earth observation Deep space exploration Bionic micro-aircraft/spacecraft Intelligent sensing and Information fusion