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Towards Grasping Task: System and Control of an Aerial Manipulator
Authors
代波
何玉庆
+5 more
刘光军
张广玉
杨丽英
谷丰
韩建达
Publication date
1 January 2019
Publisher
Abstract
面向飞行机械臂的飞行抓取作业,提出了一个由六旋翼飞行机器人和7自由度机械臂组成的飞行机械臂系统.系统采用分离式控制策略,即飞行机器人和机械臂各有一个控制器.机械臂运动所引起的系统质心和转动惯量的变化量及其导数被用来估计机械臂对飞行机器人的扰动力和力矩.为了减弱机械臂扰动对六旋翼飞行机器人的飞行控制性能的影响,提出了扰动补偿H_∞鲁棒飞行控制器.实验结果表明,与没有扰动补偿的控制器相比,当机械臂运动时所提出的扰动补偿H_∞鲁棒控制器对系统的飞行控制性能有明显的提升效果.最后,目标物抓取作业实验验证了所提出的飞行机械臂系统的可靠性
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Shenyang Institute of Automation,Chinese Academy Of Sciences
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oai:ir.sia.cn/:173321/21896
Last time updated on 10/08/2018
Institutional Repository of Institute of Automation, CAS
See this paper in CORE
Go to the repository landing page
Download from data provider
oai:ir.sia.cn/:173321/21896
Last time updated on 10/07/2018