通过动态调整重心提升无人机推力，实现更复杂工业操作。
Advancing Manipulation Capabilities of a UAV Featuring Dynamic Center-of-Mass Displacement
- 动态调节无人机质心位置以增强接触力
- 仿真验证可支持2自由度机械臂完成工具类任务
- 适合需要高精度力控的空中作业场景
随着飞行机器人在工业应用中的普及，对其物理交互能力的需求日益增长。基于接触的检测任务已成功由空中机械臂完成，但更复杂的工业应用要求系统具备更高自由度的机械臂并产生更大推力（如钻孔、打磨）。本文在前期工作基础上，提出一种新方法，通过在交互过程中优化无人机质心位置，进一步提升其力输出能力。同时研究了配备2-DoF机械臂的无人机系统在工具类任务中的功能扩展。仿真结果验证了所提方法的有效性，展示了该系统在实际场景中实现先进空中操作的潜力。
原文摘要 · Abstract (English)
As aerial robots gain traction in industrial applications, there is growing interest in enhancing their physical interaction capabilities. Pushing tasks performed by aerial manipulators have been successfully demonstrated in contact-based inspections. However, more complex industrial applications require these systems to support higher-DoF (Degree of Freedom) manipulators and generate larger forces while pushing (e.g., drilling, grinding). This paper builds on our previous work, where we introduced an aerial vehicle that can dynamically vary its CoM (Center of Mass) location to improve force exertion during interactions. We propose a novel approach to further enhance this system's force generation by optimizing its CoM location during interactions. Additionally, we study the case of this aerial vehicle equipped with a 2-DoF manipulation arm to extend the system's functionality in tool-based tasks. The effectiveness of the proposed methods is validated through simulations, demonstrating the potential of this system for advanced aerial manipulation in practical settings.
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