Pregled bibliografske jedinice broj: 1053306
End-effector force estimation method for an unmanned aerial manipulator
End-effector force estimation method for an unmanned aerial manipulator // 2019 Workshop on Research, Education and Development of Unmanned Aerial Systems
Cranfield, Ujedinjeno Kraljevstvo: Institute of Electrical and Electronics Engineers (IEEE), 2019. str. 96-99 doi:10.1109/reduas47371.2019.8999670 (predavanje, međunarodna recenzija, cjeloviti rad (in extenso), znanstveni)
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Naslov
End-effector force estimation method for an unmanned aerial manipulator
Autori
Turkovic, Kresimir ; Car, Marko ; Orsag, Matko
Vrsta, podvrsta i kategorija rada
Radovi u zbornicima skupova, cjeloviti rad (in extenso), znanstveni
Skup
2019 Workshop on Research, Education and Development of Unmanned Aerial Systems
Mjesto i datum
Cranfield, Ujedinjeno Kraljevstvo, 25.11.2019. - 27.11.2019
Vrsta sudjelovanja
Predavanje
Vrsta recenzije
Međunarodna recenzija
Ključne riječi
UAS, aerial manipulation, impedance control
Sažetak
This paper presents a detailed description of the end-effector force estimation of a robotic manipulator attached to an unmanned aerial vehicle. In order to estimate the force, it is assumed that there is a link between the force acting on the end-effector and the change of the torques in the joints of the manipulator in relation to the unloaded manipulator. This link was presented with Newton-Euler’s dynamic model and the Jacobian matrix of the manipulator. The force estimation was tested and validated on several experiments of a manipulator mounted on the aerial vehicle.
Izvorni jezik
Engleski
