基于触觉的双边遥操作空中机械臂用于拔出楔入物体并补偿人类反应时间
Haptic-Based Bilateral Teleoperation of Aerial Manipulator for Extracting Wedged Object with Compensation of Human Reaction Time
AI总结：
本文针对空中机械臂拔出楔入物体时交互力突变及人类反应延迟问题，提出基于触觉的双边遥操作策略，通过外力估计检测拔出并生成参考轨迹，实验证明该方法能减小位置超调并实现快速恢复。
摘要：
空中机械臂的双边遥操作结合了空中平台的机动性和在人类监督下执行复杂任务的能力，有助于执行工业任务。迄今为止，关于此类操作的研究主要集中在无任何物理交互的飞行，或在接触表面上施加不涉及交互力突变的推力。在本文中，我们提出了一种补偿人类反应时间的基于触觉的双边遥操作策略，用于空中机械臂从静态结构中拔出楔入物体（即拔插头），该任务会引起交互力的突然下降，并给空中平台带来额外困难。我们制作了一个由4自由度机械臂和夹爪组成的触觉设备，用于空中楔入物体拔出任务的遥操作，并介绍了一种通过触觉设备执行空中机械臂的基于触觉的遥操作方法。我们通过估计施加在空中机械臂上的外力来检测物体的拔出，并在拔出后为空中机械臂和触觉设备生成参考轨迹。作为拔出楔入物体的一个实例，我们使用基于四旋翼的空中机械臂进行了对比拔插头实验。结果验证了所提出的双边遥操作方法减小了空中机械臂位置上的超调量，并确保在拔出楔入物体后快速恢复到其初始位置。
英文摘要：
Bilateral teleoperation of an aerial manipulator facilitates the execution of industrial missions thanks to the combination of the aerial platform's maneuverability and the ability to conduct complex tasks with human supervision. Heretofore, research on such operations has focused on flying without any physical interaction or exerting a pushing force on a contact surface that does not involve abrupt changes in the interaction force. In this paper, we propose a human reaction time compensating haptic-based bilateral teleoperation strategy for an aerial manipulator extracting a wedged object from a static structure (i.e., plug-pulling), which incurs an abrupt decrease in the interaction force and causes additional difficulty for an aerial platform. A haptic device composed of a 4-degree-of-freedom robotic arm and a gripper is made for the teleoperation of aerial wedged object-extracting tasks, and a haptic-based teleoperation method to execute the aerial manipulator by the haptic device is introduced. We detect the extraction of the object by the estimation of the external force exerted on the aerial manipulator and generate reference trajectories for both the aerial manipulator and the haptic device after the extraction. As an example of the extraction of a wedged object, we conduct comparative plug-pulling experiments with a quadrotor-based aerial manipulator. The results validate that the proposed bilateral teleoperation method reduces the overshoot in the aerial manipulator's position and ensures fast recovery to its initial position after extracting the wedged object.
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。
