垂直表面接触的微型飞行器

IF 1.5 4区 工程技术 Q2 ENGINEERING, AEROSPACE
Aaron Lopez Luna, Israel Cruz Vega, J. Martínez-Carranza
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引用次数: 3

摘要

在这项工作中,我们提出了一种新的设计,用于垂直表面接触,使用两个自由度的机械臂连接到一个微型飞行器。为此,我们提出了一种基于增益调度比例-积分-导数方法的控制器。在以往的研究中,采用增益-调度比例-积分-导数方法控制微型飞行器的姿态,从而减轻手臂运动引起的微扰。这项工作的新方法侧重于使用带有机械臂的微型飞行器实现与刚性垂直表面的自动化全接触。为了成功执行空中交互任务,我们改进了增益调度比例积分导数控制的能力,以考虑逼近平面结构的固有问题。对于微型飞行器的位置反馈,本文采用了运动捕捉系统。附着在手臂末端执行器上的画笔用于在白板表面上绘制,以显示空中机械手的完全接触。在板载传感器上增加一个距离传感器,用于测量垂直表面与系统之间的距离,保证垂直表面与系统之间的距离正确,实现安全接触。实验测试结果表明,该控制器能够保持稳定的飞行,并具有足够的精度来完成空中交互任务。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
Vertical surface contact with a Micro Air Vehicle
In this work, we present a novel design for vertical surface contact using a two degree of freedom robotic arm attached to a Micro Air Vehicle. To achieve this, we propose a controller based on a Gain-Scheduled Proportional–Integral–Derivative approach. In previous works, the Gain-Scheduled Proportional–Integral–Derivative method was used to control the attitude of the Micro Air Vehicle, thus mitigating the perturbations induced by the movement of the arm. The novel approach of this work focuses on the achievement of an automatized full-contact with a rigid vertical surface using a Micro Air Vehicle with a robotic arm. We have improved the capabilities of the Gain-Scheduled Proportional–Integral–Derivative control to consider the inherent issues of approximating to a flat structure in order to carry out an aerial interaction task successfully. For the Micro Air Vehicle’s position feedback, a motion capture system is used in this work. A paintbrush attached to the end effector of the arm is used to draw over a whiteboard surface to show the full contact of the aerial manipulator. A distance sensor is added to the on-board sensors to measure the distance between the vertical surface and the system to ensure a correct distance and achieve a safe contact. Experimental testing results show that the controller can maintain a stable flight with sufficient accuracy to complete the aerial interaction tasks.
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来源期刊
CiteScore
3.00
自引率
7.10%
发文量
13
审稿时长
>12 weeks
期刊介绍: The role of the International Journal of Micro Air Vehicles is to provide the scientific and engineering community with a peer-reviewed open access journal dedicated to publishing high-quality technical articles summarizing both fundamental and applied research in the area of micro air vehicles.
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