首页|Researchers from Harbin Institute of Technology Discuss Findings in Robotics and Automation (Chat-pm: a Class of Composite Hybrid Aerial/terrestrial Precise Man ipulator)
Researchers from Harbin Institute of Technology Discuss Findings in Robotics and Automation (Chat-pm: a Class of Composite Hybrid Aerial/terrestrial Precise Man ipulator)
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By a News Reporter-Staff News Editor at Robotics & Machine Learning Daily News Daily News-Researchers detail new data in Robotic s - Robotics and Automation. According to news reporting out of Harbin,People's Republic of China,by NewsRx editors,research stated,"This letter concentrate s on the development of Chat-PM,a class of composite hybrid aerial/terrestrial manipulator,in concern with composite configuration design,dynamics modeling,motion control and force estimation. Compared with existing aerial or terrestria l mobile manipulators,Chat-PM demonstrates advantages in terms of reachability,energy efficiency and manipulation precision." Financial support for this research came from National Natural Science Foundatio n of China (NSFC). Our news journalists obtained a quote from the research from the Harbin Institut e of Technology,"To achieve precise manipulation in terrestrial mode,the dynam ics is analyzed with consideration of surface contact,based on which a cascaded controller is designed with compensation for the interference force and torque from the arm. Benefiting from the kinematic constraints caused by the surface co ntact,the position deviation and the vehicle vibration are effectively decrease d,resulting in higher control precision of the end gripper. For manipulation on surfaces with unknown inclination angles,the moving horizon estimation (MHE) i s exploited to obtain the precise estimations of force and inclination angle,wh ich are used in the control loop to compensate for the effect of the unknown sur face."
HarbinPeople's Republic of ChinaAsiaRobotics and AutomationRoboticsHarbin Institute of Technology
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