End-effector force estimation method for an unmanned aerial manipulator

被引：0

作者：

Turkovic, Kresimir ^{[1
]}

Car, Marko ^{[1
]}

Orsag, Marko ^{[1
]}

机构：

[1] Univ Zagreb, Fac Elect & Comp Engn, Zagreb 10000, Croatia

来源：

2019 INTERNATIONAL WORKSHOP ON RESEARCH, EDUCATION AND DEVELOPMENT OF UNMANNED AERIAL SYSTEMS (RED UAS 2019) | 2019年

基金：

欧盟地平线“2020”;

关键词：

D O I：

10.1109/reduas47371.2019.8999670

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

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.

引用

页码：96 / 99

页数：4

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