期刊
2022 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA 2022)
卷 -, 期 -, 页码 4855-4861出版社
IEEE
DOI: 10.1109/ICRA46639.2022.9812451
关键词
-
资金
- European Commission project H2020 AERIAL-CORE [EC 871479]
This paper introduces a comprehensive framework for controlling an aerial manipulator in physical interaction with a human operator or co-worker. The framework ensures human ergonomy and safety through various control mechanisms and is validated through numerical simulations.
In this paper we introduce a comprehensive framework to control an aerial manipulator, i.e., an aerial vehicle with a robotic arm, in physical interaction with a human operator or co-worker. The framework uses an admittance control paradigm in order to attain human ergonomy and safety; an interaction supervisor to automatically shape the compliance based on the interaction regions defined around the human co-worker; a projected gradient redundancy resolution scheme to exploit the multiple degrees of freedom of the aerial robot to accommodate for possible additional secondary tasks; and a quadratic programming optimization-based inner loop to cope with real world input saturation and increase the safety level of the human co-worker. The control framework is demonstrated and validated through numerical simulations with a human-in-the loop.
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