{"title":"无人机机械臂末端力估计方法","authors":"Kresimir Turkovic, Marko Car, Mark Orsag","doi":"10.1109/REDUAS47371.2019.8999670","DOIUrl":null,"url":null,"abstract":"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.","PeriodicalId":351115,"journal":{"name":"2019 Workshop on Research, Education and Development of Unmanned Aerial Systems (RED UAS)","volume":"70 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2019-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"4","resultStr":"{\"title\":\"End-effector force estimation method for an unmanned aerial manipulator\",\"authors\":\"Kresimir Turkovic, Marko Car, Mark Orsag\",\"doi\":\"10.1109/REDUAS47371.2019.8999670\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"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.\",\"PeriodicalId\":351115,\"journal\":{\"name\":\"2019 Workshop on Research, Education and Development of Unmanned Aerial Systems (RED UAS)\",\"volume\":\"70 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2019-11-01\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"4\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"2019 Workshop on Research, Education and Development of Unmanned Aerial Systems (RED UAS)\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/REDUAS47371.2019.8999670\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"2019 Workshop on Research, Education and Development of Unmanned Aerial Systems (RED UAS)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/REDUAS47371.2019.8999670","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
End-effector force estimation method for an unmanned aerial manipulator
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.
京公网安备 11010802042870号
京ICP备2023020795号-1
分享
求助内容：
应助结果提醒方式：
扫码关注我们
