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Contact Force-Velocity Control for a Planar Aerial Manipulator
Journal
IFAC-PapersOnLine
Date Issued
2022-01-01
Author(s)
Suthar, Prakashkumar D.
Sangwan, Vivek
Abstract
This paper addresses the challenge of controlling contact force and velocity between the end-point of a manipulator mounted on an aerial robot and an external surface. This has numerous applications involving tactile interactions such as painting of walls, cleaning window panes on skyscrapers, maintenance of bridges, solar farms etc. First, this paper presents a static analysis of a planar UAV with a two-link manipulator to determine conditions that the configuration variables (degrees-of-freedom) need to satisfy to generate a desired normal contact force. Following this, a hybrid force/velocity control strategy is presented to track (i) a desired normal contact force with a vertical wall and (ii) a desired velocity of the point of contact along the wall. Finally, to demonstrate the effectiveness of this controller, numerical simulation results of this controller with a dynamic model of a planar two link aerial manipulator are presented.
Subjects