Passive Aligning Physical Interaction of Fully-Actuated Aerial Vehicles for Pushing Tasks
CoRR(2024)
摘要
Recently, the utilization of aerial manipulators for performing pushing tasks
in non-destructive testing (NDT) applications has seen significant growth. Such
operations entail physical interactions between the aerial robotic system and
the environment. End-effectors with multiple contact points are often used for
placing NDT sensors in contact with a surface to be inspected. Aligning the NDT
sensor and the work surface while preserving contact, requires that all
available contact points at the end-effector tip are in contact with the work
surface. With a standard full-pose controller, attitude errors often occur due
to perturbations caused by modeling uncertainties, sensor noise, and
environmental uncertainties. Even small attitude errors can cause a loss of
contact points between the end-effector tip and the work surface. To preserve
full alignment amidst these uncertainties, we propose a control strategy which
selectively deactivates angular motion control and enables direct force control
in specific directions. In particular, we derive two essential conditions to be
met, such that the robot can passively align with flat work surfaces achieving
full alignment through the rotation along non-actively controlled axes.
Additionally, these conditions serve as hardware design and control guidelines
for effectively integrating the proposed control method for practical usage.
Real world experiments are conducted to validate both the control design and
the guidelines.
更多查看译文
AI 理解论文
溯源树
样例
生成溯源树,研究论文发展脉络
Chat Paper
正在生成论文摘要