6D physical interaction with a fully actuated aerial robot
6D physical interaction with a fully actuated aerial robot
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DOI：
10.1109/icra.2017.7989608
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发表时间：
2017-05
期刊：
影响因子：
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通讯作者：
Markus Ryll;G. Muscio;F. Pierri;Elisabetta Cataldi;G. Antonelli;F. Caccavale;A. Franchi
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文献类型：
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作者：
Markus Ryll;G. Muscio;F. Pierri;Elisabetta Cataldi;G. Antonelli;F. Caccavale;A. Franchi
本文介绍了一种新的全驱动的空中机器人的物理交互任务，命名为倾斜六角的设计，控制和实验验证。我们展示了如何倾斜六角，倾斜螺旋桨hexarotor是能够控制的全姿态（位置和方向独立）使用的几何控制，并施加一个完整的扳手（力和扭矩独立）与刚性连接的末端执行器使用导纳控制范例。外环控制控制所需的导纳行为和基于几何控制的内环确保姿态跟踪。相互作用力由基于动量的观测器估计。通过精确控制和测量每个螺旋桨的速度，可以进行控制和观察。一项广泛的实验活动表明，Tilt-Hex能够在稳定性，准确性和灵活性方面优于经典的欠驱动多旋翼，是目前需要空中物理交互的任务的最佳选择之一。
This paper presents the design, control, and experimental validation of a novel fully-actuated aerial robot for physically interactive tasks, named Tilt-Hex. We show how the Tilt-Hex, a tilted-propeller hexarotor is able to control the full pose (position and orientation independently) using a geometric control, and to exert a full-wrench (force and torque independently) with a rigidly attached end-effector using an admittance control paradigm. An outer loop control governs the desired admittance behavior and an inner loop based on geometric control ensures pose tracking. The interaction forces are estimated by a momentum based observer. Control and observation are made possible by a precise control and measurement of the speed of each propeller. An extensive experimental campaign shows that the Tilt-Hex is able to outperform the classical underactuated multi-rotors in terms of stability, accuracy and dexterity and represent one of the best choice at date for tasks requiring aerial physical interaction.