论文标题
具有基于IMU的力估计的轻质模块化连续操作器
A Lightweight Modular Continuum Manipulator with IMU-based Force Estimation
论文作者
论文摘要
大多数空中操纵器都使用串行刚性链接设计，在操纵过程中启动接触时会导致大力，并可能导致飞行稳定性难度。连续操作器的遵守情况可能会改善这种限制。为了实现这一目标，我们介绍了空中无人机的紧凑，轻巧和模块化电缆驱动的连续操作的新颖设计。然后，我们为其运动学，静电和刚度（合规性）得出一个完整的建模框架。建模框架可以指导控制和设计问题，以将操纵器集成到空中无人机。此外，由于派生的刚度（合规性）矩阵，并使用低成本IMU传感器捕获变形角，我们提出了一种简单的方法来估计操纵器尖端的操纵力。我们报告了硬件原型的初步实验验证，从而提供了有关其操纵可行性的见解。我们还报告了基于IMU的力估计方法的初步结果。
Most aerial manipulators use serial rigid-link designs, which results in large forces when initiating contacts during manipulation and could cause flight stability difficulty. This limitation could potentially be improved by the compliance of continuum manipulators. To achieve this goal, we present the novel design of a compact, lightweight, and modular cable-driven continuum manipulator for aerial drones. We then derive a complete modeling framework for its kinematics, statics, and stiffness (compliance). The modeling framework can guide the control and design problems to integrate the manipulator to aerial drones. In addition, thanks to the derived stiffness (compliance) matrix, and using a low-cost IMU sensor to capture deformation angles, we present a simple method to estimate manipulation force at the tip of the manipulator. We report preliminary experimental validations of the hardware prototype, providing insights on its manipulation feasibility. We also report preliminary results of the IMU-based force estimation method.
