论文标题
主动相互作用力控制，用于基于接触的检查
Active Interaction Force Control for Contact-Based Inspection with a Fully Actuated Aerial Vehicle
论文作者
论文摘要
本文介绍并验证了充分驱动和全向空中操纵平台的主动互动力控制和计划，目的是在非结构化环境中进行空中接触检查。我们提出了可变的轴选择性阻抗控制，该控制使用板上力传感器的反馈，将直接的力控制集成到故意相互作用。控制方法旨在拒绝自由飞行中的干扰，同时处理无意的互动，并积极控制所需的相互作用力。完全驱动和全向倾斜 - 旋转空中系统用于显示控制和计划方法的能力。实验表明在不同的飞行方向上的扰动排斥，推挤和扫描相互作用以及力控制的相互作用。该系统被验证为用于混凝土基础设施非破坏性测试的工具，以及
This paper presents and validates active interaction force control and planning for fully actuated and omnidirectional aerial manipulation platforms, with the goal of aerial contact inspection in unstructured environments. We present a variable axis-selective impedance control which integrates direct force control for intentional interaction, using feedback from an on-board force sensor. The control approach aims to reject disturbances in free flight, while handling unintentional interaction, and actively controlling desired interaction forces. A fully actuated and omnidirectional tilt-rotor aerial system is used to show capabilities of the control and planning methods. Experiments demonstrate disturbance rejection, push-and-slide interaction, and force controlled interaction in different flight orientations. The system is validated as a tool for non-destructive testing of concrete infrastructure, and statistical results of
