6-DOF Automated Flight Testing Using a Humanoid Robot Arm

Document Type

Conference Proceeding

Publication Date

12-4-2018

Abstract

In this research, we propose a novel solution for automated flight testing that facilitates the design, control, and application of DAVs by accurately emulating the free flight environment while ensuring safety. In our platform, the vehicle is mounted to the end-effector of an articulated robot manipulator through a 6-axis force/torque sensor. Then, a dual-module control scheme is developed to drive the manipulator to follow the movement of the vehicle. The regular module implements a damping force control law with feedforward compensation to emulate the free flight environment by maintaining a zero interaction force/torque between the robot end-effector and the vehicle in 6 degrees of freedom (DOF). In the safety module, a safety algorithm is designed to confine the movement of the vehicle within a predefined safe region, so that the collision to objects and injury to humans can be avoided. With the proposed dual-module control structure, a safe and realistic 6-DOF free flight emulation can be achieved. Experimental results are presented that demonstrate the applicability of our proposed scheme.

Identifier

85059980105 (Scopus)

ISBN

[9781538635933]

Publication Title

IEEE International Conference on Automation Science and Engineering

External Full Text Location

https://doi.org/10.1109/COASE.2018.8560549

e-ISSN

21618089

ISSN

21618070

First Page

217

Last Page

222

Volume

2018-August

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