School of Mechanical Engineering, Beijing Institute of Technology, Beijing 100081, China.
Chongqing Innovation Center, Beijing Institute of Technology, Chongqing 401147, China.
Sensors (Basel). 2020 May 26;20(11):3019. doi: 10.3390/s20113019.
An innovative aerial manipulator with ducted fans is proposed to achieve side-on aerial manipulation tasks in a confined environment, such as canopy sampling in dense forests. The dynamic model of the novel design is studied, and on this basis a composite controller is proposed to address the challenges of arm extension and physical interaction during the manipulation process. An adaptive controller is proposed for the aerial platform to achieve good stability and tracking performance under the manipulator motion, and an impedance controller is designed for the manipulator to ensure compliance and stability during physical contact. The experimental tests validate the effectiveness of the proposed prototype structure and controller design.
提出了一种带涵道风扇的创新空中操纵器，以在受限环境中实现侧向空中操纵任务，例如在茂密森林中进行树冠采样。研究了新颖设计的动力学模型，并在此基础上提出了一种复合控制器，以解决操纵过程中臂延伸和物理相互作用的挑战。为空中平台提出了一个自适应控制器，以在操纵器运动下实现良好的稳定性和跟踪性能，并且为操纵器设计了一个阻抗控制器，以确保在物理接触期间的顺应性和稳定性。实验测试验证了所提出的原型结构和控制器设计的有效性。
