Force control design for a robot manipulator attached to a UAV

Konstantinos Gkountas, Dimitris Chaikalis, Anthony Tzes

Research output: Contribution to journalArticlepeer-review


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.

Original languageEnglish (US)
Pages (from-to)548-553
Number of pages6
Issue number30
StatePublished - 2018


  • Floating base Manipulator
  • Force Control
  • Unmanned Aerial Systems

ASJC Scopus subject areas

  • Control and Systems Engineering


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