Forceful Valve Manipulation With Arbitrary Direction by Articulated Aerial Robot Equipped With Thrust Vectoring Apparatus
Forceful Valve Manipulation With Arbitrary Direction by Articulated Aerial Robot Equipped With Thrust Vectoring Apparatus
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带有推力矢量装置的铰接式空中机器人对阀门进行任意方向强力操纵
DOI：
10.1109/lra.2022.3154018
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发表时间：
2022
影响因子：
5.2
通讯作者：
Nakao Masayuki
中科院分区：
文献类型：
--
作者：
Zhao Moju;Nagato Keisuke;Okada Kei;Inaba Masayuki;Nakao Masayuki
空中操作是一个不断发展的研究领域，多旋翼与附加臂机械手已显示出实际效用的接触式检测。然而，这些耦合平台限制了末端执行器的位姿可达性，从而推动了全方位设计的发展。虽然全姿态跟踪可以通过这些全方位模型来实现，但是大量的内部推力限制了用于有力操纵（例如阀操作）的扳手施加。因此，在这封信中，我们利用一个关节式空中机器人配备推力矢量装置，这使得不仅是全方位的姿态的末端执行器，但也有足够的6自由度扳手阀门操作。首先，我们为这种铰接式模型开发了一种联合配置策略，以确保有足够的扭矩来转动阀门。然后，我们提出了控制和运动规划方法施加适当的扳手，同时按照操作轨迹。在这项工作中，涉及各种阀门方向的综合实验进行了评估，证明了我们的方法施加有力的扳手的可行性。据我们所知，这封信是第一个实现操作真实的工业阀门与真实的扭矩规模。
Aerial manipulation is a growing field of research, and multirotors with attached arm manipulator have shown practical utility in contact-based inspection. However, theses coupled platforms limit the pose reachability of the end-effector, which then motivates the development of omni-directional designs for aerial robots. Although the full pose tracking can be achieved by these omni-directional models, the large amount of internal thrust force constrains wrench exertion for forceful manipulation such as valve operation. Thus, in this letter, we harness an articulated aerial robot equipped with thrust vectoring apparatus, which enables not only the omni-directional pose of end-effector, but also the sufficient 6-of-freedom wrench for valve operation. First, we develop a joint configuration strategy for this articulated model to ensure sufficient torque to turn valves. Then, we present control and motion planning methods for exerting appropriate wrench while following a manipulation trajectory. Comprehensive experiments that involves various valve directions are evaluated in this work, demonstrating the feasibility of our methods to exert forceful wrench. To the best of our knowledge, this letter is the first to achieve the operation of real industrial valve with real torque scale.