TY - GEN
T1 - Safe Force Control of Multirotor Unmanned Aerial Manipulator
AU - Chaikalis, Dimitris
AU - Evangeliou, Nikolaos
AU - Tzes, Anthony
AU - Khorrami, Farshad
N1 - Publisher Copyright:
© 2023 IEEE.
PY - 2023
Y1 - 2023
N2 - This article studies the problem of applying normal forces using an underactuated aerial vehicle equipped with a two degree-of-freedom SCARA robotic arm. Given known desired location for force exertion, proper initial configuration for the entire aerial manipulation system is computed. The necessary conditions for generating forces along the desired axis are investigated, resulting in exact solutions for the motion of the aerial vehicle and the robot arm joints. A position controller is devised for the vehicle, guaranteeing desired end-effector pose can be achieved during interaction. For the interest of safety, potential fields are used for the contact surface, such that force interaction can only occur under predefined desired conditions. Simulations are presented to demonstrate the force exertion stability and safe recovery against large disturbances.
AB - This article studies the problem of applying normal forces using an underactuated aerial vehicle equipped with a two degree-of-freedom SCARA robotic arm. Given known desired location for force exertion, proper initial configuration for the entire aerial manipulation system is computed. The necessary conditions for generating forces along the desired axis are investigated, resulting in exact solutions for the motion of the aerial vehicle and the robot arm joints. A position controller is devised for the vehicle, guaranteeing desired end-effector pose can be achieved during interaction. For the interest of safety, potential fields are used for the contact surface, such that force interaction can only occur under predefined desired conditions. Simulations are presented to demonstrate the force exertion stability and safe recovery against large disturbances.
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U2 - 10.1109/ICAR58858.2023.10406560
DO - 10.1109/ICAR58858.2023.10406560
M3 - Conference contribution
AN - SCOPUS:85185839123
T3 - 2023 21st International Conference on Advanced Robotics, ICAR 2023
SP - 533
EP - 538
BT - 2023 21st International Conference on Advanced Robotics, ICAR 2023
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 21st International Conference on Advanced Robotics, ICAR 2023
Y2 - 5 December 2023 through 8 December 2023
ER -