弹性悬架航空机械臂的初步研究

2020 IEEE International Conference on Robotics and Automation (ICRA) Pub Date : 2020-05-01 DOI:10.1109/ICRA40945.2020.9196942

Arda Yiğit, Gustave Grappe, L. Cuvillon, S. Durand, J. Gangloff

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引用次数: 4

摘要

本文初步研究了一种由弹簧悬挂在机器人载体上的空中机械臂。悬挂式空中机械手由6对反向旋转的螺旋桨驱动，产生6自由度扳手。仿真显示了使用计算扭矩(反馈线性化)控制策略的路径跟踪结果。在首台样机上进行了主动消振实验验证。

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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Preliminary Study of an Aerial Manipulator with Elastic Suspension

This paper presents a preliminary study of an Aerial Manipulator suspended by a spring to a robotic carrier. The suspended aerial manipulator is actuated by six pairs of contra-rotating propellers generating a 6-DoF wrench. Simulations show path following results using a computed torque (feedback linearization) control strategy. Active vibration canceling is validated experimentally on a first prototype.

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来源期刊

2020 IEEE International Conference on Robotics and Automation (ICRA)

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