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Autonomous control design of an unmanned aerial manipulator for contact inspection

Published online by Cambridge University Press:  07 November 2022

Junhao Zeng Open the ORCID record for Junhao Zeng [Opens in a new window] ,
Hang Zhong ,
Yaonan Wang ,
Shuangwen Fan  and
Hui Zhang
Junhao Zeng
Affiliation:
College of Electrical and Information Engineering, National Engineering Research Center of RVC, Hunan University, Changsha, China
Hang Zhong*
Affiliation:
School of Robotics, Hunan University, Changsha, China
Yaonan Wang
Affiliation:
College of Electrical and Information Engineering, National Engineering Research Center of RVC, Hunan University, Changsha, China
Shuangwen Fan
Affiliation:
College of Electrical and Information Engineering, National Engineering Research Center of RVC, Hunan University, Changsha, China
Hui Zhang
Affiliation:
School of Robotics, Hunan University, Changsha, China
*
*Corresponding author. E-mail: zhonghang@hnu.edu.cn
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Abstract

In recent years, autonomous control based on contact inspections in unknown environments is a new hot and difficult point in robotics research. This paper presents a new control law for unmanned aerial manipulator (UAM) to perform contact inspection tasks on vertical surfaces. The selected circular image feature decouples the position and attitude of UAM, so an image-based impedance control is proposed to control the position and track the contact force. The developed controller uses geometric methods to control the attitude. In addition, the designed aerial manipulator decouples the roll and pitch of the UAV from the UAV, which improves the system’s stability. Experiments have been carried out to demonstrate the feasibility of this method.

Keywords

aerial manipulationimpedance controlgeometric controlvisual servoforce tracking

Information

Type
Research Article
Information
Robotica , Volume 41 , Issue 4 , April 2023 , pp. 1145 - 1158
Copyright
© The Author(s), 2022. Published by Cambridge University Press

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