An aerial manipulator system consisting of a quadrotor UAV and a one-DOF manipulator is introduced for contacting operations in the air. As the system is interacting with external environment to do some operations, there will exist contact force. According to the practical aerial contact manipulation features, it is known that an aerial manipulator usually performs operations as the UAV platform is in hover flight or nearby. To realize controlling the force, the hovering UAV acting as a spring-mass-damper system is firstly proved. Then, based on the derived model and the impedance control algorithm, a contact force control method is presented. That is, the position error is controlled in order to control the contact force ultimately. The actual flight experiments show that the developed system is enable to realize the contact force control without a force sensor.
Force-Sensorless Contact Force Control of an Aerial Manipulator System
2018-08-01
1307476 byte
Conference paper
Electronic Resource
English
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