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.

Direct Force Feedback Control and Online Multi-Task Optimization for Aerial Manipulators / Nava, G.; Sable, Q.; Tognon, M.; Pucci, D.; Franchi, A.. - In: IEEE ROBOTICS AND AUTOMATION LETTERS. - ISSN 2377-3766. - 5:2(2020), pp. 331-338. [10.1109/LRA.2019.2958473]

Direct Force Feedback Control and Online Multi-Task Optimization for Aerial Manipulators

Franchi A.
2020

Abstract

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.
2020
Aerial Systems; Applications; Aerial Systems; Mechanics and Control; Force Control
01 Pubblicazione su rivista::01a Articolo in rivista
Direct Force Feedback Control and Online Multi-Task Optimization for Aerial Manipulators / Nava, G.; Sable, Q.; Tognon, M.; Pucci, D.; Franchi, A.. - In: IEEE ROBOTICS AND AUTOMATION LETTERS. - ISSN 2377-3766. - 5:2(2020), pp. 331-338. [10.1109/LRA.2019.2958473]
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Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11573/1688365
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