KR101761204B1 - Mechanical structure operating system and method using an aerial manipulator - Google Patents

Abstract

A system and method for operating a mechanical structure using a flight manipulator is disclosed. An apparatus for operating a mechanical structure using a flight manipulator having a robot arm attached to a multi-rotor, the apparatus comprising: a position flux unit for obtaining position information about the flight manipulator; An end effector speed estimator estimating a speed of an end effector installed at an end of the robot arm from the position information; A direction filter for estimating a moving direction of the mechanical structure using the velocity of the end effector; And a controller for controlling the multi-rotor by calculating a thrust and a moment of the multi-rotor according to the estimated movement direction.

Description

Technical Field [0001] The present invention relates to a mechanical structure operating system and a method of operating an aerial manipulator using a flight manipulator,

The present invention relates to a system and method for operating a mechanical structure using a flight manipulator.

In general, an aircraft is a machine that can acquire bearing capacity in the atmosphere by the reaction of air to the surface.

Unmanned Aerial Vehicle (UAV) is a non-pilot aircraft that has attracted much attention in the civilian field as well as the military in recent years. A typical quadrotor is a quadrotor, which is a type of rotary wing UAV that can take off and land vertically.

UAVs are used extensively for missions such as surveillance, reconnaissance, exploration, and transport, because they can perform various tasks effectively and effectively in dangerous environments such as battlefields and disaster areas.

Korean Patent No. 10-1472392 discloses an automatic takeoff and landing process including a posture control for an unmanned airplane by acquiring accurate position information by using the DGPS information transmitted from the ground control device by the unmanned airplane, To the ground runway in accordance with the actual landing course, thereby maximizing flight safety.

In recent years, studies are being conducted to enable various operations to be carried out through the mobile manipulation operation due to excellent mobility enabling wide area access in the 3D working area for UAV.

However, in the process of interacting with an existing mechanical structure in a case where a robot arm is provided for an operation operation, a motion control different from a flight attitude control to a target point is required.

The above-described background technology is technical information that the inventor holds for the derivation of the present invention or acquired in the process of deriving the present invention, and can not necessarily be a known technology disclosed to the general public prior to the filing of the present invention.

Korean Patent No. 10-1472392

The present invention relates to a flight manipulator that allows an aerial manipulator with a robot arm coupled to be able to interact with an existing mechanical structure such as a door or drawer to be a versatile robot platform for practical applications in a realistic environment And to provide a system and method for operating a mechanical structure.

The present invention relates to a mechanical structure operating system and method using a flight manipulator capable of analyzing the interaction with an unknown drawer in which a moving direction and mechanical characteristics are not previously provided, .

Other objects of the present invention will become readily apparent from the following description.

According to an aspect of the present invention, there is provided an apparatus for operating a mechanical structure using a flight manipulator having a robot arm attached to a multi-rotor, the apparatus comprising: a position detector for obtaining position information on the flight manipulator; An end effector speed estimator estimating a speed of an end effector installed at an end of the robot arm from the position information; A direction filter for estimating a moving direction of the mechanical structure using the velocity of the end effector; And a controller for controlling the multi-rotor by calculating a thrust and a moment of the multi-rotor in accordance with the estimated movement direction.

The position information may include at least one of a position and an attitude of the multi-rotor, a position of the flight manipulator, and a position of the end effector.

The mechanical structure may have mechanical limitations in which the direction of movement is limited.

The mechanical structure may be an unknown structure in which the moving direction and mechanical characteristics of the mechanical structure are not previously provided.

An ideal force setting unit that sets a desired force to move the mechanical structure at a predetermined ideal speed using the speed of the end effector; And an end effector setting unit for setting the trajectory of the end effector using the abnormal force and the position of the end effector.

축에 대해 회전하는 로봇팔을 가지고 있으며, 상기 엔드 이펙터는 상기 멀티로터의 질량 중심에 위치하는 프레임

의

평면(

)에서 움직이도록 허용될 수 있다.The flight manipulator has a joint

The end effector having a robot arm rotatable about an axis, the end effector including a frame positioned at the center of mass of the multi-

of

plane(

). ≪ / RTI >

The directional filter can estimate the direction of movement of the mechanical structure according to the following equation.

는 상기 기구적 구조물의 이동 방향이고,

는 상기 방향 필터의 대역폭을 결정하는 파라미터이고,

는 상기 엔드 이펙터의 속도이다.here,

Is the moving direction of the mechanical structure,

Is a parameter for determining the bandwidth of the directional filter,

Is the velocity of the end effector.

The directional filter can be used in the controller by converting the direction of movement according to the following equation.

는 상기 기구적 구조물의 이상적인 요(yaw) 각도이다.here,

Is an ideal yaw angle of the mechanical structure.

를 감소하는 방향으로 상기 엔드 이펙터가 이동되도록 하며, 하기 수학식에 따른 상기 엔드 이펙터의 최적 위치를 안내할 수 있다.Wherein the end effector setting unit sets a moment acting on the multi-rotor

So that the end effector can be guided to the optimal position according to the following equation.

는 상기 엔드 이펙터의 현재 위치이며,

는 가중 파라미터이고,

는 상기 로봇팔의 작업영역에 대한 사용자 정의 부분집합이다.
here,

Is the current position of the end effector,

Is a weighting parameter,

Is a user-defined subset of the working area of the robotic arm.

According to another aspect of the present invention, there is provided a method of operating a mechanical structure using a flight manipulator having a robot arm attached to a multi-rotor, and a recording medium on which a program for performing the method is recorded.

According to an embodiment, there is provided a method of operating a mechanical structure, comprising: obtaining positional information on the flight manipulator; Estimating a velocity of an end effector installed at an end of the robot arm from the position information; Estimating a moving direction of the mechanical structure using the speed of the end effector; And controlling the multi-rotor by calculating a thrust and a moment of the multi-rotor according to the estimated movement direction.

Setting a desired force to move the mechanical structure at a predetermined ideal speed using the speed of the end effector; And setting the trajectory of the end effector using the anomaly and the position of the end effector.

The moving direction estimating step may estimate the moving direction of the mechanical structure according to the following equation.

는 상기 기구적 구조물의 이동 방향이고,

는 상기 방향 필터의 대역폭을 결정하는 파라미터이고,

는 상기 엔드 이펙터의 속도이다.here,

Is the moving direction of the mechanical structure,

Is a parameter for determining the bandwidth of the directional filter,

Is the velocity of the end effector.

The moving direction estimating step may convert the moving direction according to the following equation to be used in the controller.

는 상기 기구적 구조물의 이상적인 요(yaw) 각도이다.here,

Is an ideal yaw angle of the mechanical structure.

를 감소하는 방향으로 상기 엔드 이펙터가 이동되도록 하며, 하기 수학식에 따른 상기 엔드 이펙터의 최적 위치를 안내할 수 있다.The end effector trajectory setting step may include setting a moment acting on the multi-rotor

So that the end effector can be guided to the optimal position according to the following equation.

는 상기 엔드 이펙터의 현재 위치이며,

는 가중 파라미터이고,

는 상기 로봇팔의 작업영역에 대한 사용자 정의 부분집합이다.here,

Is the current position of the end effector,

Is a weighting parameter,

Is a user-defined subset of the working area of the robotic arm.

Other aspects, features, and advantages will become apparent from the following drawings, claims, and detailed description of the invention.

According to an embodiment of the present invention, an effect of enabling a flight manipulator with a robot arm coupled to a robot to interact with an existing mechanical structure, such as a door or a drawer, to be a multi-purpose robot platform for practical applications in a real- have.

In addition, the dynamic characteristics are modeled by analyzing the interaction with the unknown drawer in which the moving direction and the mechanical characteristic are not provided in advance, and the desired force can be applied to the drawer.

평면의 법선벡터(normal vector)에 수직하도록 변환하는 모습을 나타낸 도면,
도 5는 로봇팔의 작업영역(workspace)을 나타낸 도면,
도 6은 서랍 열기 모드 동안의 히스토리 그래프,
도 7은 서랍 닫기 모드 동안의 히스토리 그래프,
도 8는 다양한 서랍 방향에 따른 실험 스냅샷. 1 is a block diagram of a mechanical structure operating system using a flight manipulator according to an embodiment of the present invention;
2 is a flowchart of a method of operating a mechanical structure using a flight manipulator according to an embodiment of the present invention.
Figure 3 shows a coordinate frame applied to an operating system of a mechanical structure,
Fig.

A plane perpendicular to a normal vector,
5 is a view showing a workspace of the robot arm,
Figure 6 shows a history graph during drawer open mode,
Figure 7 shows a history graph during the drawer close mode,
Figure 8 is an experimental snapshot of various drawer orientations.

While the invention is susceptible to various modifications and alternative forms, specific embodiments thereof are shown by way of example in the drawings and will herein be described in detail. It is to be understood, however, that the invention is not to be limited to the specific embodiments, but includes all modifications, equivalents, and alternatives falling within the spirit and scope of the invention.

It is to be understood that when an element is referred to as being "connected" or "connected" to another element, it may be directly connected or connected to the other element, . On the other hand, when an element is referred to as being "directly connected" or "directly connected" to another element, it should be understood that there are no other elements in between.

The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The singular expressions include plural expressions unless the context clearly dictates otherwise. In this specification, the terms "comprises" or "having" and the like refer to the presence of stated features, integers, steps, operations, elements, components, or combinations thereof, But do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, or combinations thereof.

The terms first, second, etc. may be used to describe various components, but the components should not be limited by the terms. The terms are used only for the purpose of distinguishing one component from another.

Also, the terms " part, "" module," and the like, which are described in the specification, mean a unit for processing at least one function or operation, and may be implemented by hardware or software or a combination of hardware and software.

It is to be understood that the components of the embodiments described with reference to the drawings are not limited to the embodiments and may be embodied in other embodiments without departing from the spirit of the invention. It is to be understood that although the description is omitted, multiple embodiments may be implemented again in one integrated embodiment.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Reference will now be made in detail to the preferred embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like reference numerals refer to the like elements throughout. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings. In the following description, well-known functions or constructions are not described in detail since they would obscure the invention in unnecessary detail.

FIG. 1 is a block diagram of a mechanical structure operating system using a flight manipulator according to an embodiment of the present invention, and FIG. 2 is a flowchart of a method of operating a mechanical structure using a flight manipulator according to an embodiment of the present invention.

FIG. 1 is a block diagram showing the structure of a mechanical structure operating system 1, a flight manipulator 10, a multi-rotor 12, a robot arm 14, an operating device 100, a position acquiring unit 110, A direction filter 130, a controller 140, an ideal force setting unit 150, and an end effector setting unit 160 are shown.

The mechanical structure operating system 1 according to the present embodiment uses the fly manipulator 10 composed of the multi-rotor 12 equipped with the robot arm 14, And it is possible to operate without any prior knowledge about the mechanical structure of the machine.

Hereinafter, for convenience of understanding and explanation of the invention, it is assumed that the mechanical structure to be operated is a drawer having mechanical limitations in which movement is allowed only in one direction. Here, for practical application, it is assumed that the moving direction of the drawer and the mechanical characteristics of the drawer (for example, mass, spring, damper, lubricant state, etc.) are not provided in advance.

The mechanical structure operating system 1 according to the present embodiment includes the flight manipulator 10 and the operating device 100 as a basic framework.

The flight manipulator 10 includes a multi-rotor 12 capable of vertical take-off and landing and a robot arm 14 mounted on the multi-rotor 12 and exerting a force on the mechanical structure for operation. Here, the robot arm 14 may be implemented with multiple degrees of freedom.

The end of the robot arm 14 is equipped with an end effector for gripping the drawer handle to operate the drawer and moves to open and close the drawer according to the operation command.

The flight manipulator 10 has a limited flight mechanism by holding the drawer handle and in this embodiment it is necessary to derive the dynamic equation of the flight manipulator 10 with limited end effector movement.

The operating device 100 acquires the position of the end effector and estimates the speed of the end effector to estimate the direction of movement according to the mechanical limitations of the drawer, thereby controlling the thrust and moment for operating the multi-rotor. In addition, an ideal force can be set to smoothly move the drawer so that an ideal force is applied to the drawer by guiding the position of the end effector.

The operating device 100 includes a position acquiring unit 110, an end effector speed estimating unit 120, a direction filter 130, and a controller 140. An abnormal force setting unit 150 and an end effector setting unit 160. [

A method of operating a mechanical structure using a flight manipulator performed in the operating device 100 is as follows.

), 비행 매니퓰레이터(10)의 위치(

), 엔드 이펙터의 위치(

) 중 적어도 하나를 획득할 수 있다. 여기서, 후술하겠지만 멀티로터(12)의 질량 중심에 위치하는

을 기준으로 하는 좌표계에 대해 로봇팔(14)의 연결 부위가

축을 중심으로 회전하게 되어

평면(즉,

)에서 움직이도록 허용되며, 엔드 이펙터는 서랍 손잡이에 대한 회전이 자유로운 것으로 가정한다. The position acquiring unit 110 acquires position information on the flight manipulator 10 (step S210). In the position acquiring unit 110, the position and posture of the multi-rotor 12

, The position of the flight manipulator 10 (

), The position of the end effector

). ≪ / RTI > Here, as will be described later, the center of mass of the multi-rotor 12

The connecting portion of the robot arm 14 is connected to the coordinate system

Rotate around the axis

The plane (i.e.,

, And the end effector is assumed to be free to rotate with respect to the drawer handle.

)를 이용하여 엔드 이펙터의 속도를 추정한다(단계 S220). The end effector speed estimating unit 120 estimates the position of the flight manipulator

To estimate the speed of the end effector (step S220).

)을 이용하여 서랍의 이동 방향을 추정한다(단계 S230). The directional filter 130 may comprise a value relating to the estimated velocity of the end effector

To estimate the moving direction of the drawer (step S230).

)을 이용하여 멀티로터(12)의 추력(

) 및 모멘트(

)를 산출하여 멀티로터 조작명령으로 멀티로터(12)에 전송한다(단계 S240). The controller 140 determines the value of the direction of movement of the drawer estimated by the directional filter 130

) Of the multi-rotor (12)

) And moment

(Step S240), and transmits it to the multi-rotor 12 by a multi-rotor operation command.

Here, the abnormal force setting unit 150 and the end effector setting unit 160 may be further included to smoothly push and pull the drawer.

)을 설정한다(단계 S250). 여기서, 이상력(desired force)이라 함은 서랍을 미리 지정된 이동속도로 부드럽게 이동시킬 수 있도록 하는 이상적인 힘을 나타낸다. The anisotropic force setting unit 150 sets the anisotropic force (i.e.,

(Step S250). Here, the term "desired force" refers to an ideal force that allows the drawer to move smoothly at a predetermined moving speed.

The abnormal force set in the anisotropic force setting unit 150 may be transmitted to the end effector setting unit 160 and used to set the trajectory of the end effector.

)를 이용하여 다음 위치(

)를 계획할 수 있다(단계 S260). 계획된 다음 위치는 로봇팔(14)에 로봇팔 조작명령으로 전송될 수 있다. The end effector setting unit 160 sets the end effector position (in other words,

) To the next position (

(Step S260). The next planned position can be transmitted to the robot arm 14 as a robot arm manipulation command.

The controller 140 controls the position and attitude of the multi-rotor 12 by further utilizing the abnormal force set by the anomaly setting unit 150 and the position of the end effector provided from the robot arm 14, Can be generated.

When trying to operate a structure with mechanical limitations such as a drawer, the ground mobile robot can withstand the forces and torques generated by mechanical limitations. However, in the case of a flight manipulator, its stability is easily taken into consideration because it has a limitation of being easily unstable.

Conventionally, a robot platform equipped with a force and torque sensor that estimates parameters related to mechanical limitations or applies a compliance control scheme is used. However, because the flight manipulator is only based on external forces, the force manipulator's torque and torque measurement are useful information I can not give it.

Therefore, in the mechanical structure operating system 1 using the flight manipulator according to the present embodiment, the moving direction of the unknown drawer is estimated from the speed of the end effector, and an ideal force for smoothly pushing or pulling the drawer is set, By guiding the position, the stability of the flight manipulator can be enhanced and smooth drawer pull and pull operations can be performed.

It is a matter of course that the method of operating the mechanical structure using the flight manipulator shown in FIG. 2 may be performed by an automated procedure in a time-series sequence by a program built in or installed in the digital processing apparatus (operating apparatus 100). The codes and code segments that make up the program can be easily deduced by a computer programmer in the field. In addition, the program is stored in a computer readable medium readable by the digital processing apparatus, and is read and executed by the digital processing apparatus to implement the method. The information storage medium includes a magnetic recording medium, an optical recording medium, and a carrier wave medium.

Hereinafter, the mechanical equation of the flight manipulator 10 holding the drawer handle is derived in the mechanical structure operating system 1 using the flight manipulator, and the relationship between the force applied to the fly manipulator 10 and the drawer is analyzed . The controller 140 for operating the drawer is then designed and a strategy for estimating the direction of movement of the drawer and calculating the force applied to the drawer by utilizing the end effector speed will be described and the end effector path will be designed.

First, we will derive the dynamic equation of the flight manipulator with the end effector motion by holding the drawer handle.

평면의 법선벡터(normal vector)에 수직하도록 변환하는 모습을 나타낸 도면이며, 도 5는 로봇팔의 작업영역(workspace)을 나타낸 도면이다. Fig. 3 is a view showing a coordinate frame applied to the mechanical structure operating system, Fig. 4

FIG. 5 is a view showing a workspace of a robot arm. FIG. 5 is a view showing a state where the robot arm is perpendicular to a normal vector of a plane. FIG.

은 관성 좌표 프레임(inertial coordinate frame)이고,

와

은 서랍과 비행 플랫폼에 고정되어 있다.

는 추후 사용될 임의 좌표 프레임(arbitrary coordinate frame)이다. The kinematic and kinematic models of the flight manipulator 10 may be derived in a coordinate frame as shown in FIG.

Is an inertial coordinate frame,

Wow

Is fixed to drawer and flight platform.

Is an arbitrary coordinate frame to be used later.

와

는 서랍이 기준 위치(reference position)에 있을 때 일치하고,

는

방향으로 이동하는 것으로 가정한다.

은 멀티로터의 질량 중심에 위치하며, 로봇팔의 관성 모멘트는 무시해도 될만한 것으로 가정한다. 일반적인 좌표 변수는

에 대해

로부터 이격된

의 변위인

로 구성되고, 멀티로터의 자세는 롤-피치-요 오일러 각(roll-pitch-yaw Euler angle)인

로 표현된다. 일반적인 좌표 변수들을 모두 포함하는 벡터는 다음과 같이 정의된다. For convenience,

Wow

Coincides when the drawer is in the reference position,

The

Direction. ≪ / RTI >

Is located at the center of mass of the multi-rotor, and it is assumed that the moment of inertia of the robot arm is negligible. Common coordinate variables are

About

Spaced from

Displacement of

, And the posture of the multi-rotor is set to a roll-pitch-yaw Euler angle

Lt; / RTI > A vector containing all the general coordinate variables is defined as follows.

에 대해

로 나타낸다. 또한, 엔드 이펙터 위치는

에 대해

로 나타낸다. Additionally, the position of the flight manipulator

About

Respectively. Also, the end effector position is

About

Respectively.

축에 대해 회전하는 로봇팔을 가지고 있는 것으로 가정한다. 따라서, 엔드 이펙터는 단지 프레임

의

평면(즉,

)에서 움직이도록 허용될 뿐이다. In the present specification, the flight manipulator has a joint

Assume that you have a robotic arm that rotates about an axis. Thus, the end-

of

The plane (i.e.,

). ≪ / RTI >

In addition, it is assumed that the end effector is free to rotate about the drawer handle. The kinematic relationship between the drawer handle and the flight manipulator can then be expressed as:

는

에서 서랍 손잡이의 위치이고,

은

에서

로의 회전 행렬이다. 수학식 (2)의 시간 도함수를 계산함으로써, 프레임

의 병진 속도(translational velocity)는 다음과 같이 계산될 수 있다.here,

The

The position of the drawer handle,

silver

in

Lt; / RTI > By calculating the time derivative of equation (2)

The translational velocity of the object can be calculated as follows.

는 벡터를

와 같은 교대 행렬(skew-symmetric matrix)로 매핑하며,

는

에 대한 비행 매니퓰레이터의 각속도이다. 여기서, 엔드 이펙터 위치

는 천천히 변화하며, 즉

이다. 수학식 (3)은

를 가지고서 다음과 같이 나타낼 수 있다.

The vector

To a skew-symmetric matrix,

The

Is the angular velocity of the flight manipulator. Here, the end effector position

Is slowly changing, that is,

to be. Equation (3)

Can be expressed as follows.

은

를

에 매핑하는 행렬이며, 다음과 같다. here,

silver

To

And is as follows.

는

를 비행 매니퓰레이터의 병진속도에 연관시키는 행렬이다. 추가적으로, 비행 매니퓰레이터의 각속도는 수학식 (6)을 이용하여 다음과 같이 나타낼 수 있다.

The

To the translation speed of the flight manipulator. In addition, the angular velocity of the flight manipulator can be expressed using Equation (6) as follows.

은 일반적인 좌표를 비행 매니퓰레이터의 각속도에 링크시키는 행렬이다. 서랍의 병진속도는 다음과 같이 일반적인 좌표의 시간 도함수를 가지고 계산될 수 있다.

Is a matrix linking general coordinates to the angular speed of the flight manipulator. The translational speed of the drawer can be calculated with the time derivative of the general coordinates as follows.

이다. here,

to be.

The dynamic equation of the flight manipulator holding the drawer handle can be derived as follows using the Lagrange equation.

와

는 총 운동 및 위치 에너지 조건들이고,

는

를 위한 일반적인 토크이다. 총 운동 에너지는 수학식 (5), (7), (8)을 가지고 다음과 같이 계산될 수 있다.

Wow

Are the total motion and position energy conditions,

The

It is a common torque for. The total kinetic energy can be calculated using Equations (5), (7), (8) as follows.

는 서랍의 질량이다. 또한,

과

은 각각

,

을 대각 요소로 가지는 비행 매니퓰레이터의 관성 질량 관성 모멘트를 나타내는 대각 행렬들이다. 여기서,

은

에서 측정된다. 총 위치 에너지

는 다음과 같다.

Is the mass of the drawer. Also,

and

Respectively

,

Are the diagonal matrices representing the inertial mass moment of inertia of the flight manipulator with diagonal elements. here,

silver

Lt; / RTI > Total potential energy

Is as follows.

이고,

는 중력상수이다. 일반성을 잃지 않고, 서랍의 이동 방향은 중력 방향에 수직한 것으로 가정한다. 수학식 (10) 및 (11)을 (9)로 대체하면, 역학 모델이 다음과 같이 유도될 수 있다. here,

ego,

Is the gravitational constant. Without loss of generality, it is assumed that the direction of movement of the drawer is perpendicular to the direction of gravity. If Equations (10) and (11) are replaced by (9), the dynamics model can be derived as follows.

는 관성 행렬,

는 원심 및 코리올리 효과(centrifugal and Coriolis effects)를 위한 행렬,

는 중력 조건이다. 이들 행렬들은 다음과 같이 주어진다.

Is an inertia matrix,

A matrix for centrifugal and Coriolis effects,

Is a gravity condition. These matrices are given as follows.

The effect of the drawer motion on the flight manipulator is as follows.

를 이용하여 다음과 같이 표현될 수 있다.To observe the dynamic characteristics of the flight manipulator holding the drawer handle, Equation (12)

Can be expressed as follows.

는 다음과 같이 계산된다.Inertia matrix

Is calculated as follows.

는 다음과 같이 유도된다. vector

Is derived as follows.

를 위한 토크 벡터는 다음과 같이 주어진다. Also,

Is given as follows.

는 댐퍼, 스프링 혹은 마찰력과 같은 주변 성분에 의해 서랍에 작용되는 힘이다.

는 로터로부터의 총 추력(thrust)이고,

는

의

축에 대해 로터에 작용되는 모멘트이다. 본 실시예에서,

는 무시해도 될만한 것으로 가정하는데, 이는 전체 병진 및 회전 속도가 컨트롤러에서 충분히 작게 유지될 것이기 때문이다.

Is the force acting on the drawer by surrounding components such as damper, spring or frictional force.

Is the total thrust from the rotor,

The

of

The moment acting on the rotor about the axis. In this embodiment,

Is negligible because the overall translation and rotation speed will be kept small enough in the controller.

, 질량

, 토크

는 명확하게 구해질 수 없다. 따라서,

,

,

은 미지의 값이다. In the unknown drawer scenario considered in this embodiment, the direction of movement of the drawer

, mass

, talk

Can not be clearly obtained. therefore,

,

,

Is an unknown value.

로 표현되는데, 직접적으로 계산될 수 없다.

및

에 미치는

의 효과를 최소화하는 한가지 방법은

를 0(zero)까지 조정하고

가 가능한한 작은 값이 되도록 함으로써

를 최소화하는 것이다. 이를 위해, 서랍의 방향은 방향 필터를 가지고 추정될 것이다. 불확실성이 보상된다면,

와

는 다음과 같이 될 것이다. Thus, the effect of the drawer movement on the flight manipulator is

, Which can not be calculated directly.

And

On

One way to minimize the effect of

To zero (0)

To be as small as possible

. To this end, the direction of the drawer will be estimated with a directional filter. If the uncertainty is compensated,

Wow

Will be as follows.

의 움직임이

의 움직임과 연결되며,

가

와 연결됨을 보여준다. 비행 매니퓰레이터는

와

를 조절함으로써 서랍을 밀거나 당길 수 있다.
Where * denotes non-zero values. As a result, the dynamics equation

The movement of

And,

end

. The flight manipulator

Wow

So that the drawer can be pushed or pulled.

The ideal implementation of a flight manipulator to apply the required force can be calculated as follows.

에 대해 서랍 손잡이에 작용되는 외력

와 비행 매니퓰레이터의 구조 사이의 관계를 이용해 볼 만하다. The dynamic characteristics of the flight manipulator holding the drawer were analyzed. For further analysis,

The external force exerted on the drawer handle

And the structure of the flight manipulator.

Briefly, the flight manipulator is assumed to be in a quasi-static state. The relationship can then be derived between force and moment equilibrium.

이 작용할 때, 비행 매니퓰레이터에 작용하는 힘과 모멘트는 중력, 로터로부터의 추력, 반동력

에 의해 생성된다. 여기서, 힘과 모멘트 평형식은 프레임

에 대해 다음과 같이 계산될 수 있다. By the fly manipulator on the drawer handle

The forces and moments acting on the flight manipulator are influenced by gravity, thrust from the rotor,

Lt; / RTI > Here, the force and moment balance equations

Can be calculated as follows.

을 가지고 (17) 및 (18)을 반복하는

,

,

의 조합은 많이 있는데, 이는 변수의 수가 방정식의 수를 초과하기 때문이다. 이들 조합 중에서 비행 매니퓰레이터의

와

는

평면 상으로의

의 투영(projection)에 수직한

평면의 법선벡터(normal vector)를 만들기 위해 다음과 같이 설정된다. given

(17) and (18) are repeated

,

,

There are many combinations, because the number of variables exceeds the number of equations. Of these combinations, the flight manipulator

Wow

The

Planar

Perpendicular to the projection of

It is set as follows to make a normal vector of plane.

은 투영된 성분을 다음과 같이 명확하게 보여주기 위해

으로 변환된다(도 4 참조). Also,

To show the projected components clearly

(See FIG. 4).

,

와

를 설정함으로써,

방향으로 작용하는 힘은 없을 것이며,

및

방향에서 모멘트는 생성되지 않는다. 그러면 (17) 및 (18)의 해(solution)는 (20)에 계산된

와 다음과 같은 관계를 가질 수 있다. In this way

,

Wow

Lt; / RTI >

There will be no force acting in the direction,

And

No moment is generated in the direction. Then the solutions of (17) and (18) are computed in (20)

And the following relationship.

,

,

의 이상적인 값은 다음과 같이 계산된다. (21) to (23), in order to maintain an equilibrium relationship

,

,

Is calculated as follows.

와

는

로부터 직접적으로 계산될 수 있다. 반면,

는 엔드 이펙터의 위치

및

를 움직임으로써 설정될 수 있다.
In step 24,

Wow

The

As shown in FIG. On the other hand,

The position of the end effector

And

As shown in FIG.

을 생성하기 위한 비행 매니퓰레이터의 이상적 구조는 힘과 모멘트 평형식에서 유도된다. 이들 분석에 기초하여, 컨트롤러가 유도될 수 있다. A kinematic model of a flight manipulator holding a drawer handle was derived earlier. In addition,

The ideal structure of the flight manipulator to generate the force is derived from the force and moment balance equations. Based on these analyzes, a controller can be derived.

From equation (13), the dynamic equation of the flight manipulator holding the drawer handle can be extracted as follows.

는 서랍의 움직임으로부터 야기되는 불확실성을 나타낸다. 컨트롤러의 목적은 비행 매니퓰레이터의 전체적인 구조가 수학식 (24)에서 설명된 기준값을 따르도록 하는 것이다. here,

Indicates the uncertainty resulting from the movement of the drawer. The purpose of the controller is to have the overall structure of the flight manipulator follow the reference value described in equation (24).

가 다음과 같이 정의된다. To design the controller,

Is defined as follows.

이다.

는 방향 필터로부터 계산된다. 수학식 (25)를 위해 제안된 제어법칙은 다음과 같이 설계될 수 있다. here,

to be.

Is calculated from the directional filter. The control law proposed for equation (25) can be designed as follows.

와

는 양한정대각행렬(positive definite diagonal matrix)이다.

는 수학식 (24)에서 유도된 것과 같이

로 설정된다. 그러면,

는 다음과 같이 계산된다. here,

Wow

Is a positive definite diagonal matrix.

0.0 > (24) < / RTI >

. then,

Is calculated as follows.

If the proposed control law is replaced by equation (25), the error dynamics are as follows.

의 가정과 함께, 오차 역학은 다음을 따르게 된다. In this embodiment, it is assumed that the overall speed of the platform is adjusted slowly, since the out-of-speed condition is such that it is negligible. Low speed and small

Along with the assumption of error, the error mechanics follows.

가 기하급수적으로 수렴하도록 보장되는 전형적인 2차 선형 시스템이다.
This is because the error

Is a typical quadratic linear system guaranteed to converge exponentially.

Hereinafter, a method of estimating the moving direction of the drawer to push and pull the drawer using the direction filter will be described. In addition, the rules for planning the ideal force to smoothly open or close the drawer are described. A method of guiding the end effector position is then provided.

로 가정하였다. 하지만, 도 3에 도시된 것과 같은 서랍을 동작시킬 때,

혹은

방향을 구할 수는 없다. In the previous analysis, the direction of movement of the drawer was

Respectively. However, when operating the drawer as shown in Fig. 3,

or

The direction can not be obtained.

의 방향이

와 같은 임의 좌표 프레임

이 도 3에 도시된 것과 같이 적용될 수 있다. To address this,

The direction of

Any coordinate frame

Can be applied as shown in Fig.

는 비행 매니퓰레이터의

와

를 측정하기 위한 기준으로 이용되는데, 이는 서랍의 이동 방향이 컨트롤러에서 이용될 수 있도록

에 대해 측정될 필요가 있기 때문이다. 본 실시예에서 비행 매니퓰레이터의 초기

은 편의상

인 것으로 선택된다. Newly defined frame

Of the flight manipulator

Wow

Is used as a reference for measuring the movement of the drawer,

As shown in FIG. In the present embodiment,

For convenience

.

에서 서랍의 이동 방향

을 추정하기 위해, 엔드 이펙터 속도가 이용된다. 방향

는 다음의 1차 선형 필터를 이용하여 간단히 업데이트될 수 있다.

Direction of drawer movement

The end effector speed is used. direction

Can be simply updated using the following first-order linear filter.

는 필터의 대역폭을 결정하는 파라미터이고,

이다. 이동 방향 가 추정된 이후, 컨트롤러에서 이용되도록

로 변환하며, 그 관계는 다음과 같다. here,

Is a parameter for determining the bandwidth of the filter,

to be. Direction of movement Is estimated, the controller

And the relationship is as follows.

설정은 다음과 같다. The abnormal force setting unit 150 sets the abnormal force

The setting is as follows.

를 가지고

를 0(zero)로 만들기 위해 수학식 (20)을 가지고

이 정의된다. 하지만, 서랍을 밀거나 당길 때, 수학식 (34)를 가지고 계산된 추정

가 컨트롤러에 적용된다. (19) < RTI ID = 0.0 >

Have

Lt; RTI ID = 0.0 > (20) < / RTI &

Is defined. However, when pushing or pulling the drawer, the estimated () < RTI ID = 0.0 >

Is applied to the controller.

가 충분히 잘

를 추종하는 것으로 가정된다면, 수학식 (24)의 관계가 이상적인 서랍을 미는 힘 혹은 당기는 힘

를 가지고 이용될 수 있다. Flight manipulator

Well enough

, The relation of equation (24) is the ideal pulling force or pulling force

≪ / RTI >

를 설정하는 방법 중 하나는 서랍이 밀리거나 당겨질 때 그 속도를 관리하는 것이다. 속도는 다음 PI 스키마를 통해 제어될 수 있다.

One way to set this is to manage the speed when the drawer is pushed or pulled. The speed can be controlled via the following PI schema.

는 서랍의 이상 속도이다.

를 통해,

는 결국

로 수렴할 것이다. 더구나, 이상적인 힘

는 서랍 손잡이를 붙잡는 것을 유지하거나 압력을 가하는 것처럼 다양한 목적을 가진 이용자에 의해 정의될 수 있다.

Is the ideal speed of the drawer.

Through the,

Eventually

. Moreover,

May be defined by the user having various purposes such as holding the drawer handle or applying pressure.

The end effector setting section 160 plans the end effector trajectory as follows.

는

와

를 이용함으로써 구현될 수 있음을 설명하였다.

와

를 변경함으로써,

를 수학식 (24)에 따른 이상적인 값으로 만드는 것이 가능하다. previously

The

Wow

As shown in FIG.

Wow

Lt; / RTI >

To an ideal value according to equation (24).

를 가능한한 작게 감소시키는 것이 유리하다.

를 감소시킴으로써,

의 최대값이 증가될 수 있다. 따라서, 허용가능한

또한 증가된다. Here,

To be as small as possible.

Lt; / RTI >

Can be increased. Therefore,

Also increased.

가 비행 매니퓰레이터에 갑작스런 각속도를 야기하여 위험 상황으로 이끌 수도 있다. Not only that, but when failing to hold the drawer handle during operation,

May cause a sudden angular velocity on the flight manipulator and lead to a dangerous situation.

인 것으로 가정되었는데, 따라서 는 매우 작은 값으로 유지되어야 한다. Another aspect to consider when planning the end effector position is the stability of the flight manipulator. In the previously performed kinetic analysis,

It is assumed that Should be kept at a very small value.

가 감소하는 방향으로 엔드 이펙터를 부드럽게 이동하기 위해서, 다음의 최적화 문제를 해결함으로써 엔드 이펙터의 위치가 안내될 수 있다.

The position of the end effector can be guided by solving the following optimization problem in order to smoothly move the end effector in the direction in which the end effector decreases.

는 현재 엔드 이펙터 위치이며,

는 가중 파라미터이고,

는 로봇팔의 작업영역에 대한 사용자 정의 부분집합이다.

Is the current end effector position,

Is a weighting parameter,

Is a user-defined subset of the working area of the robot arm.

가 대신 고려될 수 있다. Referring to FIG. 5, considering the entire area of the work area makes the problem too complicated, a subset, represented by having linear inequality constraints

Can be considered instead.

By using linear inequality with constraints, the optimization problem can be set as a QP problem. In addition, the problem can be solved analytically by identifying the Karush-Kuhn-Tucker (KKT) conditions. With relaxed constraints, the end effector planning algorithm can be implemented in real time.

Hereinafter, experimental setup and results of the effectiveness of the mechanical structure operating system using the flight manipulator designed according to the present embodiment will be described.

First, the experiment setting conditions are as follows.

와 추정 오일러각

을 전송하는 AHRS는

에 설치된다. 멀티로터의 위치는 모션 캡쳐 시스템 (VICON)에 의해 측정되며, 병진속도는 위치 측정을 통해 계산된다. 이 값들은 지상 제어 시스템에서 계산되고 온보드 컴퓨터로 전송된다. The multi-rotor was developed using MK Hexa 2, which weighs approximately 1.8 kg and has a length of 60 cm from end to end. ARM Cortex, based on a bare-board computer, is installed on the board to calculate control inputs and process sensor data. For attitude control of the multi-rotor,

And the estimated Euler angles

AHRS to transmit

Respectively. The position of the multi-rotor is measured by the motion capture system (VICON), and the translation speed is calculated by the position measurement. These values are calculated in the ground control system and transmitted to the onboard computer.

The 450g robot arm is assembled with the servo motor. Each servo motor counts its position value and sends it to the onboard computer. The joint angle is estimated from the onboard computer. In addition, the camera is installed in the end effector of the robot arm and provides visual information to guide the flight manipulator to catch the drawer handle.

Drawers used in this experiment were made using sliding rails commonly used in furniture. The movement path of the drawer is approximately 70 cm. The drawer handle has been modified to fit the end effector.

The experimental scenario involves opening and closing the drawer without prior knowledge of the drawer. After takeoff, the flight manipulator grabs the drawer handle by using the visual information provided through the camera. If successful, begin to apply force to the drawer handle to open or close the drawer. After the operational mission is completed, return to the original position and land.

The experimental results are as follows.

Fig. 6 is a history graph during drawer open mode, Fig. 7 is a history graph during drawer close mode, and Fig. 8 is an experimental snapshot according to various drawer directions.

In order to demonstrate the effectiveness of this embodiment, an experiment was carried out with various settings for opening and closing the drawer. The history graphs shown in Figs. 6 and 7 correspond to Figs. 8B and 8D, respectively.

가 0(zero)로 잘 조정되고 있음이 보여진다. 또한,

는 서랍을 열고 닫기 위해 적용되는 이상력을 나타내는 기준값을 성공적으로 추적하고 있다. 또한,

는 수학식 (34)를 이용하여 계산된 서랍의 추정 이동 방향인 기준각을 따르고 있는 적합한 추적 성능을 보여주고 있다.

의 히스토리 그래프에서, 본 특정 예시에서는 서랍의 추정 이동 방향이 -40˚인 참값에 수렴하고 있다. In the history graph shown in Figs. 6 and 7,

Is adjusted to zero (0). Also,

Successfully tracks the reference value indicating the anomaly force applied to open and close the drawer. Also,

Shows the proper tracking performance following the reference angle, which is the estimated moving direction of the drawer calculated using equation (34).

In this particular example, the estimated moving direction of the drawer converges to a true value of -40 degrees.

6 and 7, the movement speed of the end effector is shown in the lowermost graph. In both cases, although the physical properties of the drawer were not known in advance, the speed of the drawer is well adjusted to the ideal value.

Based on experimental results, the effectiveness of this embodiment for operating an unknown, limited mechanical mechanism using a flight manipulator has been demonstrated.

It will be apparent to those skilled in the art that various modifications and variations can be made in the present invention without departing from the spirit or scope of the invention as defined in the following claims And changes may be made without departing from the spirit and scope of the invention.

1: mechanical structure operating system 10: flight manipulator
12: Multi-rotor 14: Robot arm
100: Operating device 110: Position acquiring unit
120: end effector speed estimator 130: direction filter
140: controller 150: abnormal power setting unit
160: End effector setting section

Claims (19)

An apparatus for operating a mechanical structure using a flight manipulator having a robot arm attached to a multi-rotor,
A position acquiring unit for acquiring position information about the flight manipulator;
An end effector speed estimator estimating a speed of an end effector installed at an end of the robot arm from the position information;
A direction filter for estimating a moving direction of the mechanical structure using the velocity of the end effector;
And a controller for controlling the multi-rotor by calculating a thrust and a moment of the multi-rotor according to the estimated movement direction,
Further comprising an ideal force setting unit for setting a desired force to move the mechanical structure at a predetermined ideal speed using the speed of the end effector,
Wherein the controller operates the position and posture of the multi-rotor using the anomaly force.
delete The method according to claim 1,
Characterized in that the mechanical structure has mechanical limitations in which the direction of movement is limited.
The method of claim 3,
Wherein the mechanical structure is an unknown structure in which the moving direction and mechanical characteristics of the mechanical structure are not provided in advance.
The method according to claim 1,
And an end effector setting unit for setting the trajectory of the end effector using the anomaly and the position of the end effector.
The method according to claim 1,
The flight manipulator has a joint

The end effector having a robot arm rotatable about an axis, the end effector including a frame positioned at the center of mass of the multi-

of

plane(

) Of the operating device (10).
The method according to claim 1,
Wherein the directional filter estimates the moving direction of the mechanical structure according to the following equation: < EMI ID =

here,

Is the moving direction of the mechanical structure,

Is a parameter for determining the bandwidth of the directional filter,

Is the speed of the end effector.
8. The method of claim 7,
Wherein the directional filter transforms the moving direction according to the following equation to be used in the controller:

here,

Is an ideal yaw angle of the mechanical structure.
6. The method of claim 5,
Wherein the end effector setting unit sets a moment acting on the multi-rotor

Wherein the end effector is moved in a direction to decrease the end effector, and guides the optimum position of the end effector according to the following equation:

here,

Is the current position of the end effector,

Is a weighting parameter,

Is a user-defined subset of the working area of the robotic arm.
A method for operating a mechanical structure using a flight manipulator having a robot arm attached to a multi-rotor,
The position acquiring unit acquiring position information on the flight manipulator;
Estimating a speed of an end effector installed at an end of the robot arm from the position information;
The directional filter estimating the direction of movement of the mechanical structure using the speed of the end effector;
Controlling the multi-rotor by calculating a thrust and a moment of the multi-rotor in accordance with the estimated movement direction of the multi-rotor;
Setting an ideal force to move the mechanical structure at a predetermined ideal speed using the speed of the end effector; And
And the controller operating the position and posture of the multi-rotor using the anomalous force.
delete 11. The method of claim 10,
Wherein the mechanical structure has mechanical limitations in which the direction of movement is limited.
13. The method of claim 12,
Wherein the mechanical structure is an unknown structure in which the moving direction and the mechanical characteristics of the mechanical structure are not previously provided.
11. The method of claim 10,
The end effector setting unit setting the trajectory of the end effector using the abnormal force and the position of the end effector.
11. The method of claim 10,
The flight manipulator has a joint

The end effector having a robot arm rotatable about an axis, the end effector including a frame positioned at the center of mass of the multi-

of

plane(

) Of the mechanical structure (1).
11. The method of claim 10,
Wherein the moving direction estimating step estimates the moving direction of the mechanical structure according to the following equation:

here,

Is the moving direction of the mechanical structure,

Is a parameter for determining the bandwidth of the directional filter,

Is the speed of the end effector.
17. The method of claim 16,
Wherein the moving direction estimating step converts the moving direction according to the following equation to be used in the controller:

here,

Is an ideal yaw angle of the mechanical structure.
15. The method of claim 14,
The end effector trajectory setting step may include setting a moment acting on the multi-rotor

Wherein the end effector is moved in a direction to decrease the end effector, and the optimal position of the end effector according to the following equation is guided:

here,

Is the current position of the end effector,

Is a weighting parameter,

Is a user-defined subset of the working area of the robotic arm.
18. A recording medium on which a program that can be read by a digital processing apparatus for performing the method of operating the mechanical structure according to any one of claims 10, 12 to 18 is recorded.

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