A Switchable Unmanned Aerial Manipulator System for Window-Cleaning Robot Installation

Yinshuai Sun; Zhongliang Jing; Peng Dong; Jianzhe Huang; Wujun Chen; Henry Leung

RA-L 202143 citations

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.

BibTeX

@inproceedings{ral2021_aswitchableunman,
  title = {A Switchable Unmanned Aerial Manipulator System for Window-Cleaning Robot Installation},
  author = {Yinshuai Sun and Zhongliang Jing and Peng Dong and Jianzhe Huang and Wujun Chen and Henry Leung},
  booktitle = {RA-L 2021},
  year = {2021}
}