Force control design for a robot manipulator attached to a UAV

This article focuses on the modeling and control of an Unmanned Aerial Vehicle (UAV) while applying forces to its surrounding environment using a manipulator. The manipulator is attached beneath the UAV. The derived mathematical model of the UAV carrying the manipulator, relies on the application of the Newton-Euler equations. Model-based controllers are designed, in order to stabilize the UAV while maintaining the contact with its surrounding environment and applying forces to it. The objective is to keep the end effector of the manipulator as close as possible to a desired point while at the same time exerting forces to it. Simulation studies using a quadrotor and a two Degree of Freedom (DoF) planar manipulator are provided to demonstrate the effectiveness of the proposed control scheme.