Abstract
This paper addresses the problem of unilateral contact interaction by an under-actuated quadrotor UAV equipped with a passive tool in a bilateral teleoperation scheme. To solve the challenging control problem of force regulation in contact interaction while maintaining flight stability and keeping the contact, we use a parallel position/force control method, commensurate to the system dynamics and constraints in which using the compliant structure of the end-effector the rotational degrees of freedom are also utilized to attain a broader range of feasible forces. In a bilateral teleoperation framework, the proposed control method regulates the aerial manipulator position in free flight and the applied force in contact interaction. On the master side, the human operator is provided with force haptic feedback to enhance his/her situational awareness. The validity of the theory and efficacy of the solution are shown by experimental results. This control architecture, integrated with a suitable perception/localization pipeline, could be used to perform outdoor aerial teleoperation tasks in hazardous and/or remote sites of interest.
Highlights
Aerial robotics has become increasingly popular in research, industry, and for commercial applications
We use haptic feedback to improve the performance of position tracking in free flight, and to reflect the applied force, in order to let the user feel the force in the contact interaction, which eventually leads to a more accurate tele-manipulation
A human operator drives the aerial manipulator to establish a contact with a stationary target and applies force to it, receiving force feedback
Summary
Aerial robotics has become increasingly popular in research, industry, and for commercial applications. Relevant examples are epitomized by maintenance operations in the energy sector, for example, oil, gas, refinery, and power plants, in particular, to perform non-destructive tests that require keeping some sensors in touch with objects not accessible by a human, due to their installation altitude, and in hazardous environments [1,2]. Apart from their growing use in industrial and civil sites, these systems are starting to be employed for the in-contact documentation of historical buildings [3]. By aerial manipulator we mean a small size Vertical Take-Off and Landing (VTOL) Unmanned Aerial Vehicle (UAV) equipped with
Sign-in/Register to view highlights & summary Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
