Direct Force and Pose NMPC with Multiple Interaction Modes for Aerial Push-and-Slide Operations
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Datum
2021Typ
- Conference Paper
ETH Bibliographie
yes
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Abstract
In this paper, we present a model predictive
controller for a fully actuated aerial manipulator to track a
hybrid force and pose trajectory at the end-effector in an aerial
interaction task. A force sensor at the end-effector is used to
detect contact and to directly control the interaction force. We
propose an approach for automatic transition between three
operation modes which reflect the state of contact constraints,
including free flight and two modes for force control based on
static or dynamic friction at the end-effector. This division into
three modes allows for different mode-specific controller tunings
to optimize the desired performance throughout an interaction
task. Results from flight experiments which combine force,
position, and attitude tracking, show the performance of the
controller in terms of accuracy and precision. The performance
is further benchmarked against a hybrid force/impedance
controller. Mehr anzeigen
Persistenter Link
https://doi.org/10.3929/ethz-b-000476947Publikationsstatus
publishedExterne Links
Buchtitel
2021 IEEE International Conference on Robotics and Automation (ICRA)Seiten / Artikelnummer
Verlag
IEEEKonferenz
Thema
Aerial robotics; MPC; Aerial Interaction; Tiltrotor; MAVOrganisationseinheit
03737 - Siegwart, Roland Y. / Siegwart, Roland Y.
02284 - NFS Digitale Fabrikation / NCCR Digital Fabrication
ETH Bibliographie
yes
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