scholarly journals Inspection-on-the-fly using Hybrid Physical Interaction Control for Aerial Manipulators

Author(s):  
Abbaraju Praveen ◽  
Xin Ma ◽  
Harikrishnan Manoj ◽  
Vishnunandan LN. Venkatesh ◽  
Mo Rastgaar ◽  
...  
Sensors ◽  
2020 ◽  
Vol 20 (11) ◽  
pp. 3019
Author(s):  
Yibo Zhang ◽  
Bin Xu ◽  
Changle Xiang ◽  
Wei Fan ◽  
Tianfu Ai

An innovative aerial manipulator with ducted fans is proposed to achieve side-on aerial manipulation tasks in a confined environment, such as canopy sampling in dense forests. The dynamic model of the novel design is studied, and on this basis a composite controller is proposed to address the challenges of arm extension and physical interaction during the manipulation process. An adaptive controller is proposed for the aerial platform to achieve good stability and tracking performance under the manipulator motion, and an impedance controller is designed for the manipulator to ensure compliance and stability during physical contact. The experimental tests validate the effectiveness of the proposed prototype structure and controller design.


2018 ◽  
Vol 37 (11) ◽  
pp. 1421-1444 ◽  
Author(s):  
Arvid QL Keemink ◽  
Herman van der Kooij ◽  
Arno HA Stienen

This paper presents an overview of admittance control as a method of physical interaction control between machines and humans. We present an admittance controller framework and elaborate control scheme that can be used for controller design and development. Within this framework, we analyze the influence of feed-forward control, post-sensor inertia compensation, force signal filtering, additional phase lead on the motion reference, internal robot flexibility, which also relates to series elastic control, motion loop bandwidth, and the addition of virtual damping on the stability, passivity, and performance of minimal inertia rendering admittance control. We present seven design guidelines for achieving high-performance admittance controlled devices that can render low inertia, while aspiring coupled stability and proper disturbance rejection.


Author(s):  
Natalia Kostenko

The subject matter of research interest here is the movement of sociological reflection concerning the interplay of public and private realms in social, political and individual life. The focus is on the boundary constructs embodying publicity, which are, first of all, classical models of the space of appearance for free citizens of the polis (H. Arendt) and the public sphere organised by communicative rationality (Ju. Habermas). Alternative patterns are present in modern ideas pertaining to the significance of biological component in public space in the context of biopolitics (M. Foucault), “inclusive exclusion of bare life” (G. Agamben), as well as performativity of corporeal and linguistic experience related to the right to participate in civil acts such as popular assembly (J. Butler), where the established distinctions between the public and the private are levelled, and the interrelationship of these two realms becomes reconfigured. Once the new media have come into play, both the structure and nature of the public sphere becomes modified. What assumes a decisive role is people’s physical interaction with online communication gadgets, which instantly connect information networks along various trajectories. However, the rapid development of information technology produces particular risks related to the control of communications industry, leaving both public and private realms unprotected and deforming them. This also urges us to rethink the issue of congruence of the two ideas such as transparency of societies and security.


2017 ◽  
Vol 22 (1-2) ◽  
pp. 75-97 ◽  
Author(s):  
Małgorzata Figiel ◽  
Andrzej Górecki

Sign in / Sign up

Export Citation Format

Share Document