Integrated force and position control dataset

The methods implemented for these experiments are described in the papers:

[1] A. Suarez, M. Perez, A. E. Jimenez-Cano, G. Heredia, A. Ollero: "Cartesian Aerial Manipulator with Compliant Joint Arm", submitted to Robotics and Automation Letters, February 2019.

[2] A. Suarez, P. Sanchez-Cuevas, M. Fernandez, M. Perez, G. Heredia and A. Ollero, "Lightweight and Compliant Long Reach Aerial Manipulator for Inspection Operations," 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Madrid, 2018, pp. 6746-6752.

These data files correspond to two different contact force control experiments conducted with the Cartesian aerial manipulator in outdoors, using a Leica Total Station to measure the position of the UAV, the estimator and the Cartesian manipulator with compliant joint arm described in the paper. The force/torque is estimated from the joint deflection signal measured by a magnetic encoder integrated in the compliant joint. The control rate is set to 50 Hz, taking into account the RAM-read update rate of the Herkulex servos.

本实验所采用的方法已在以下论文中详细阐述：
[1] A. Suarez、M. Perez、A. E. Jimenez-Cano、G. Heredia、A. Ollero：《带柔顺关节臂的笛卡尔式空中机械臂（Cartesian Aerial Manipulator with Compliant Joint Arm）》，提交至《机器人与自动化快报（Robotics and Automation Letters）》，2019年2月。
[2] A. Suarez、P. Sanchez-Cuevas、M. Fernandez、M. Perez、G. Heredia及A. Ollero：《面向巡检作业的轻量化柔顺式长距空中机械臂（Lightweight and Compliant Long Reach Aerial Manipulator for Inspection Operations）》，发表于2018年IEEE/RSJ智能机器人与系统国际会议（IROS），马德里，2018年，第6746-6752页。

本数据集包含两组针对带柔顺关节臂的笛卡尔式空中机械臂开展的室外接触力控制实验数据。实验采用徕卡全站仪（Leica Total Station）测量无人机（Unmanned Aerial Vehicle, UAV）、状态估计器以及前述笛卡尔式空中机械臂的位置。力/扭矩（force/torque）通过集成在柔顺关节中的磁性编码器（magnetic encoder）测得的关节偏转信号（joint deflection signal）估算得到。控制速率设定为50赫兹（Hz），该参数参考了Herkulex伺服电机的RAM读取更新速率（RAM-read update rate）。