期刊
IEEE ROBOTICS AND AUTOMATION LETTERS
卷 5, 期 2, 页码 331-338出版社
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/LRA.2019.2958473
关键词
Aerial Systems: Mechanics and Control; Aerial Systems: Applications; Force Control
类别
资金
- ANR [ANR-18-CE33-0001]
In this letter we present an optimization-based method for controlling aerial manipulators in physical contact with the environment. The multi-task control problem, which includes hybrid force-motion tasks, energetic tasks, and position/postural tasks, is recast as a quadratic programming problem with equality and inequality constraints, which is solved online. Thanks to this method, the aerial platform can be exploited at its best to perform the multi-objective tasks, with tunable priorities, while hard constraints such as contact maintenance, friction cones, joint limits, maximum and minimum propeller speeds are all respected. An on-board force/torque sensor mounted at the end effector is used in the feedback loop in order to cope with model inaccuracies and reject external disturbances. Real experiments with a multi-rotor platform and a multi-DoF lightweight manipulator demonstrate the applicability and effectiveness of the proposed approach in the real world.
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