A Switchable Unmanned Aerial Manipulator System for Window-Cleaning Robot Installation
Yinshuai Sun, Zhongliang Jing, Peng Dong, Jianzhe Huang, Wujun Chen, Henry Leung
Abstract
Unmanned Aerial Manipulators (UAMs) have much potential for automating the cleaning of the high-rise windows. In this letter, a switchable UAM system is designed to carry out the high-rise cleaning task by installing a cleaning robot onto the window. The UAM system is divided into four phases: free-flight, attaching, delivery and detaching. Control methods are developed for all phases, and switch strategies between different phases are proposed. The results of outdoor window-cleaning robot installation experiments using the proposed UAM system demonstrate the effectiveness of our control methods and switch strategies.
Topics & Concepts
Window (computing)InstallationRobotTask (project management)Computer scienceManipulator (device)Control systemSimulationReal-time computingEmbedded systemEngineeringArtificial intelligenceElectrical engineeringOperating systemSystems engineeringRobotics and Sensor-Based LocalizationSoft Robotics and ApplicationsRobotic Path Planning Algorithms