首页> 外文会议>IEEE/RSJ International Conference on Intelligent Robots and Systems >Aerial robots with rigid/elastic-joint arms: Single-joint controllability study and preliminary experiments
【24h】

Aerial robots with rigid/elastic-joint arms: Single-joint controllability study and preliminary experiments

机译:具有刚性/弹性关节臂的空中机器人:单联合可控性研究和初步实验

获取原文

摘要

We present the dynamic modeling, analysis, and control design of a Planar-Vertical Take-Off and Landing (PVTOL) underactuated aerial vehicle equipped either with a rigid- or an elastic-joint arm. We prove that in both cases the system is exactly linearizable with a dynamic feedback and differentially flat for the same set of outputs (but different controllers). We compare the two cases with extensive and realistic simulations, which show that the rigid-joint case outperforms the elastic-joint case for aerial grasping tasks while the converse holds for link-velocity amplification tasks. We present preliminary experimental results using a actuated joint with variable stiffness (VSA) on a quadrotor platform.
机译:我们介绍了平面垂直起飞和降落(PVTOL)的动态建模,分析和控制设计,其欠压空中车辆装备有刚性或弹性接头臂。我们证明,在这两种情况下,系统正是可直观地,具有动态反馈和差分平面,用于同一组输出(但不同的控制器)。我们比较了两种具有广泛和现实模拟的案例,表明刚性联接案件优于空中抓握任务的弹性联合壳体,而逆转仪表可用于链接 - 速度放大任务。我们使用在四足平台上使用具有可变刚度(VSA)的致动关节来提出初步实验结果。

著录项

相似文献

  • 外文文献
  • 中文文献
  • 专利
获取原文

客服邮箱:kefu@zhangqiaokeyan.com

京公网安备:11010802029741号 ICP备案号:京ICP备15016152号-6 六维联合信息科技 (北京) 有限公司©版权所有
  • 客服微信

  • 服务号