机器人2025，Vol.47Issue(3)：361-371,382,12.DOI:10.13973/j.cnki.robot.250012
面向沼泽湿地环境采样的空中作业机器人变刚度柔顺控制
Variable-stiffness Compliant Control of Aerial Manipulator for Sampling in Marsh Wetland Environments
摘要
Abstract
A variable-stiffness compliant control framework is proposed for the issues of compliant manipulation and precise control of an aerial manipulator performing sampling tasks in marsh wetland environments.Firstly,a variable-stiffness admittance control method based on energy tank is designed to achieve compliant sampling by the aerial manipulator.Secondly,a boundary adaptive method is proposed that effectively resolves the issue of insufficient energy in the energy tank caused by variable-stiffness compliance,enhancing the safety of the aerial manipulator during the sampling process.Then,a disturbance observer and a pose controller are designed using the prescribed-time control method,improving the disturbance estimation and trajectory error convergence speed of the aerial manipulator.The stability of the proposed variable-stiffness compliant control framework is analyzed using passivity theory and Lyapunov tools.Finally,the compliance,safety,and stability of the variable-stiffness compliant control framework are verified through simulations and experiments.关键词
空中作业机器人/变刚度导纳控制/能量罐/规定时间控制Key words
aerial manipulator/variable-stiffness admittance control/energy tank/prescribed-time control引用本文复制引用
陈彦杰,沈蒙召,施玮恒,钟杭,缪志强,王耀南..面向沼泽湿地环境采样的空中作业机器人变刚度柔顺控制[J].机器人,2025,47(3):361-371,382,12.基金项目
国家自然科学基金(62273098,62273138). （62273098,62273138）
