Abstract
Bilateral teleoperation of an aerial manipulator facilitates the execution of industrial missions thanks to the combination of the aerial platform's maneuverability and the ability to conduct complex tasks with human supervision. Heretofore, research on such operations has focused on flying without any physical interaction or exerting a pushing force on a contact surface that does not involve abrupt changes in the interaction force. In this paper, we propose a human reaction time compensating haptic-based bilateral teleoperation strategy for an aerial manipulator extracting a wedged object from a static structure (i.e., plug-pulling), which incurs an abrupt decrease in the interaction force and causes additional difficulty for an aerial platform. A haptic device composed of a 4-degree-of-freedom robotic arm and a gripper is made for the teleoperation of aerial wedged object-extracting tasks, and a haptic-based teleoperation method to execute the aerial manipulator by the haptic device is introduced. We detect the extraction of the object by the estimation of the external force exerted on the aerial manipulator and generate reference trajectories for both the aerial manipulator and the haptic device after the extraction. As an example of the extraction of a wedged object, we conduct comparative plug-pulling experiments with a quadrotor-based aerial manipulator. The results validate that the proposed bilateral teleoperation method reduces the overshoot in the aerial manipulator's position and ensures fast recovery to its initial position after extracting the wedged object.
Abstract (translated)
双边遥控操作航空手爪能够通过结合航空平台的可操纵性和在人类监督下执行复杂任务的特性，促进工业任务的执行。迄今为止，关于这种操作的研究主要集中在没有身体交互或对接触表面施加推力的情况下飞行。在本文中，我们提出了一个基于触觉反馈的双边遥控操作策略，用于从静态结构中提取楔形物体（即插销拉动）的航空手爪，该操作会导致相互作用力的急剧下降，并为航空平台带来额外的困难。 为了进行遥控操作，我们设计了一个4自由度机器人手臂和夹具组成的触觉装置，并引入了基于触觉的遥控方法来执行航空手爪。在提取楔形物体的过程中，我们通过估计航空手爪受到的外力来检测物体的提取，并为航空手爪和触觉装置生成参考轨迹。 以楔形物体的提取为例，我们与基于四旋翼的航空手爪进行了比较插销拉动实验。结果证实了所提出的双边遥控方法可以降低航空手爪的位置超差，并在提取楔形物体后确保其迅速恢复到初始位置。
URL
https://arxiv.org/abs/2405.01361
