全驱动空中飞行器用于推压任务的被动对齐物理交互
Passive Aligning Physical Interaction of Fully-Actuated Aerial Vehicles for Pushing Tasks
AI总结：
本文针对空中机械臂在无损检测推压任务中因姿态误差导致接触点丢失的问题，提出选择性停用角运动控制并启用直接力控制的策略，使全驱动飞行器能被动对齐平面工作表面，并给出硬件设计与控制指南。
摘要：
近年来，在无损检测（NDT）应用中利用空中机械臂执行推压任务的情况显著增长。此类操作涉及空中机器人系统与环境之间的物理交互。具有多个接触点的末端执行器常被用于将无损检测传感器放置到待检测表面上。在对齐无损检测传感器与工作表面并保持接触的过程中，要求末端执行器尖端的所有可用接触点都与工作表面接触。使用标准的全位姿控制器时，由于建模不确定性、传感器噪声和环境不确定性引起的扰动，姿态误差经常出现。即使是很小的姿态误差，也可能导致末端执行器尖端与工作表面之间失去接触点。为了在这些不确定性中保持完全对齐，我们提出了一种控制策略，该策略选择性地停用角运动控制，并在特定方向上启用直接力控制。特别地，我们推导出两个必须满足的基本条件，使得机器人能够通过绕非主动控制轴的旋转，被动地与平面工作表面对齐，从而实现完全对齐。此外，这些条件可作为硬件设计和控制指南，用于在实际应用中有效集成所提出的控制方法。进行了真实世界实验，以验证控制设计和这些指南。
英文摘要：
Recently, the utilization of aerial manipulators for performing pushing tasks in non-destructive testing (NDT) applications has seen significant growth. Such operations entail physical interactions between the aerial robotic system and the environment. End-effectors with multiple contact points are often used for placing NDT sensors in contact with a surface to be inspected. Aligning the NDT sensor and the work surface while preserving contact, requires that all available contact points at the end-effector tip are in contact with the work surface. With a standard full-pose controller, attitude errors often occur due to perturbations caused by modeling uncertainties, sensor noise, and environmental uncertainties. Even small attitude errors can cause a loss of contact points between the end-effector tip and the work surface. To preserve full alignment amidst these uncertainties, we propose a control strategy which selectively deactivates angular motion control and enables direct force control in specific directions. In particular, we derive two essential conditions to be met, such that the robot can passively align with flat work surfaces achieving full alignment through the rotation along non-actively controlled axes. Additionally, these conditions serve as hardware design and control guidelines for effectively integrating the proposed control method for practical usage. Real world experiments are conducted to validate both the control design and the guidelines.
机构、总结、中文摘要均由AI分析而来，可能存在错误，请以论文正文为准。
