FAM-DQ: 高トルク相互作用のためのデュアルクワッドロータ完全駆動空中マニピュレータ
FAM-DQ: A Dual-Quadrotor-Based Fully Actuated Aerial Manipulator for High-Torque Interaction
2つのクワッドロータを中央フレームの両端に取り付け、ギア駆動サーボで方向を調整することで、6自由度のエンドエフェクタ制御を実現し、高トルクの物理的相互作用を可能にする空中マニピュレータを提案した。
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著者: Xuwei Yang, Ruoyu Ren, Ziqian Guo
分類: cs.RO
原文アブストラクト
Aerial physical interaction requires aerial manipulation platforms to generate large interaction forces and torques while maintaining precise end-effector control. However, conventional underactuated aerial manipulators suffer from strong position-attitude coupling, whereas fully actuated platform designs often face structural complexity, limited payload capacity, and insufficient torque output. This paper presents FAM-DQ, a dual-quadrotor based fully actuated aerial manipulator designed for high-torque physical interaction tasks. By mounting two quadrotor propulsion modules at the ends of a central frame through passive joints, while using a gear-driven servo to regulate the pointing direction, FAM-DQ achieves decoupled $6$-DoF end-effector control with omnidirectional manipulation capability and enhanced torque output. Experiments including trajectory tracking, attitude tracking, static torque measurement, and screw driving validate the proposed design. FAM-DQ achieves a maximum torque of $1.019~\mathrm{N}\cdot\mathrm{m}$ with a total mass of $0.447~\mathrm{kg}$, corresponding to a torque-to-mass ratio of $2.28~\mathrm{N}\cdot\mathrm{m/kg}$.