Active Interaction Force Control for Contact-Based Inspection with a Fully Actuated Aerial Vehicle
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Date
2021-06
Publication Type
Journal Article
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yes
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Abstract
This article presents and validates active interaction force control and planning for fully actuated and omnidirectional aerial manipulation platforms, with the goal of aerial contact inspection in unstructured environments. We present a variable axis-selective impedance control which integrates direct force control for intentional interaction, using feedback from an on-board force sensor. The control approach aims to reject disturbances in free flight, while handling unintentional interaction and actively controlling desired interaction forces. A fully actuated and omnidirectional tilt-rotor aerial system is used to show capabilities of the control and planning methods. Experiments demonstrate disturbance rejection, push-and-slide interaction, and force-controlled interaction in different flight orientations. The system is validated as a tool for nondestructive testing of concrete infrastructure, and statistical results of interaction control performance are presented and discussed.
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published
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Journal / series
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37 (3)
Pages / Article No.
709 - 722
Publisher
IEEE
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Software
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03737 - Siegwart, Roland Y. (emeritus) / Siegwart, Roland Y. (emeritus)
02284 - NFS Digitale Fabrikation / NCCR Digital Fabrication