TY - JOUR
T1 - Indirect Force Control of a Cable-Suspended Aerial Multi-Robot Manipulator
AU - Sanalitro, D.
AU - Tognon, M.
AU - Jimenez-Cano, A.E.
AU - Cortes, J.
AU - Franchi, A.
N1 - Funding Information:
This letter was recommended for publication by Associate Editor Matthew Garratt. This work was supported in part by ANR under Grant ANR-17-CE33-0007 MuRoPhen, and in part by the European Union's Horizon 2020 Research and Innovation Programme under Grant Agreement 871479 AERIAL-CORE.
Publisher Copyright:
© 2016 IEEE.
PY - 2022/7/1
Y1 - 2022/7/1
N2 - We present the control in physical interaction with the environment of a Cable-suspended Aerial Multi-Robot Manipulator (CS-AMRM) called the Fly-Crane, composed of three aerial vehicles towed to a platform by means of six cables. The control strategy enables the system to accurately and safely perform tasks involving expected or unexpected interactions between the platform and the environment, in the absence of dedicated force/torque sensors. A previously developed Inverse Kinematic Controller (IKC) is enhanced with an admittance framework, and contacts are estimated through a generalized momentum-based observer. To assess the validity of our approach, and to provide practical insights into the method, we perform extensive experimental tests, comprehending the admittance property shaping to modulate stiffness, damping, and virtual mass, as well as experiments in a more realistic scenario involving contacts between the Fly-Crane and the environment.
AB - We present the control in physical interaction with the environment of a Cable-suspended Aerial Multi-Robot Manipulator (CS-AMRM) called the Fly-Crane, composed of three aerial vehicles towed to a platform by means of six cables. The control strategy enables the system to accurately and safely perform tasks involving expected or unexpected interactions between the platform and the environment, in the absence of dedicated force/torque sensors. A previously developed Inverse Kinematic Controller (IKC) is enhanced with an admittance framework, and contacts are estimated through a generalized momentum-based observer. To assess the validity of our approach, and to provide practical insights into the method, we perform extensive experimental tests, comprehending the admittance property shaping to modulate stiffness, damping, and virtual mass, as well as experiments in a more realistic scenario involving contacts between the Fly-Crane and the environment.
KW - Aerial systems: Mechanics and control
KW - compliance and impedance control
KW - multi-robot systems
KW - 2023 OA procedure
UR - http://www.scopus.com/inward/record.url?scp=85130446796&partnerID=8YFLogxK
U2 - 10.1109/LRA.2022.3176457
DO - 10.1109/LRA.2022.3176457
M3 - Article
AN - SCOPUS:85130446796
SN - 2377-3766
VL - 7
SP - 6726
EP - 6733
JO - IEEE Robotics and automation letters
JF - IEEE Robotics and automation letters
IS - 3
ER -