Estimation of contact and disturbance forces and interaction force tracking with an aerial manipulator
Open access
Autor(in)
Datum
2022Typ
- Master Thesis
ETH Bibliographie
yes
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Abstract
Over-actuated MAVs have received growing attention in recent years as they allow for physical interaction with their environment. Most interaction tasks so far have been conducted in controlled laboratory environments with little to no outside disturbances.
To perform high-accuracy interaction tasks in outdoor conditions, we need a method to reliably distinguish wrenches (i.e. forces and torques) that arise from interaction at the contact point from those that arise from external disturbances (such as aerodynamic effects from wind).
The applicable methods to achieve this depend heavily on the used sensor equipment. Therefore, we propose to use a combination of odometry and force/torque sensors, together with an analytical model of the platform dynamics. Thus we can
estimate contact and disturbance wrenches simultaneously.
In this project, we present a model-based filtering method, namely Extended Kalman Filter (EKF). Following this, an estimation framework is designed and implemented in simulation and verified on the physical platform. With a combination of a novel
(especially for MAVs) hybrid motion-force controller, we enable physical interaction of such vehicles with the environment under the presence of external disturbance. For a contact-based inspection, we provide the platform with two types of manipulators. Initially, we validate our approach with a simple rigid manipulator and subsequently with a delta arm attached to the vehicle. We prove the ability of the entire control framework in real-world experiments. Thus, we verify the quality of the estimates by comparing them to ground-truth measurements and showcasing
possible industrial applications. Mehr anzeigen
Persistenter Link
https://doi.org/10.3929/ethz-b-000561752Publikationsstatus
publishedBeteiligte
Referent: Brunner, Maximilian
Referent: Cuniato, Eugenio
Referent: Tognon, Marco
Referent: Siegwart, Roland
Verlag
ETH ZurichThema
ROBOTICS; Aerial robotics; Aerial manipulation; CONTROL (MECHANICAL ENGINEERING); Hybrid control; ESTIMATION (STOCHASTIC PROCESSES); Extended Kalman filter (EKF); Force/torque sensor; Aerial physical interaction; PARALLEL MANIPULATORS (ROBOTICS)Organisationseinheit
03737 - Siegwart, Roland Y. / Siegwart, Roland Y.
ETH Bibliographie
yes
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