Hybrid Force/Position Control of Aerial Manipulators in Contact Operation
MENG Xiangdong1,2,3, HE Yuqing1,2,4, HAN Jianda1,2
1. State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China; 2. Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang 110169, China; 3. University of Chinese Academy of Sciences, Beijing 100049, China; 4. Shenyang Institute of Automation(Guangzhou), Chinese Academy of Sciences, Guangzhou 511458, China
Abstract：For the contact operation problem of the aerial manipulator system during moving, a hybrid force and position control framework is applied to controlling the system to contact with the external environment continuously and reliably with a constant force, and implement the desired trajectory tracking during the contact process. Firstly, the workspace is divided into two sub-spaces, i.e. the constrained space and the free-flight space, where the contact force control and position control are adopted respectively. For the force control problem, the closed-loop UAV (unmanned aerial vehicle) system is proven to behave as a spring-mass-damper-like system, and an inverse-dynamics-based controller is designed to implement the contact force control in the constrained sub-space. The motion control in free-flight space depends on trajectory planning and position controllers. Finally, a 1-DOF (degree-of-freedom) aerial manipulator system based on a hex-rotor UAV is developed, and the system is commanded to track a oblique line trajectory in flight mode while contacting with wall surface. The results indicate that the proposed method contributes to maintaining steady motion, and controlling the desired contact force.
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