用吊车机器人实现飞机机翼外侧远程检查，减少晃动和碰撞。
Semi-autonomous Teleoperation using Differential Flatness of a Crane Robot for Aircraft In-Wing Inspection
- 利用吊车系统微分平坦性设计低晃动、避障轨迹。
- 实验显示晃动减少89%，碰撞率从33%降至0%。
- 提升检查效率18.7%，适合航空维修人员使用。
在飞机机翼等狭小空间内的视觉检查对维修人员而言存在严重的身体负担。本文提出一种新型吊车机器人，可沿机翼全长移动，使维修人员能在外部完成检查。然而，遥控操作仍面临避障与摄像头负载晃动的挑战。本研究的主要贡献在于利用吊车系统动力学的微分平坦性，设计出低振荡、无碰撞的相机轨迹以用于遥操作。自主实验验证了该方法可消除89%的非期望振荡。遥操作实验表明，在12名参与者执行检查任务时，相比无轨迹选择的情况，使用该方法后碰撞率由33%降至0%，且即使不计碰撞失败，任务效率仍提升18.7%。
原文摘要 · Abstract (English)
Visual inspection of confined spaces such as aircraft wings is ergonomically challenging for human mechanics. This work presents a novel crane robot that can travel the entire span of the aircraft wing, enabling mechanics to perform inspection from outside of the confined space. However, teleoperation of the crane robot can still be a challenge due to the need to avoid obstacles in the workspace and potential oscillations of the camera payload. The main contribution of this work is to exploit the differential flatness of the crane-robot dynamics for designing reduced-oscillation, collision-free time trajectories of the camera payload for use in teleoperation. Autonomous experiments verify the efficacy of removing undesired oscillations by 89%. Furthermore, teleoperation experiments demonstrate that the controller eliminated collisions (from 33% to 0%) when 12 participants performed an inspection task with the use of proposed trajectory selection when compared to the case without it. Moreover, even discounting the failures due to collisions, the proposed approach improved task efficiency by 18.7% when compared to the case without it.
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