Passive Compliance Control of Aerial Manipulators
Min Jun Kim, Ribin Balachandran, Marco De Stefano, Konstantin Kondak, Christian Ott · arXiv (Cornell University) · 2018
This paper presents a passive compliance control for aerial manipulators to achieve stable environmental interactions. The main challenge is the absence of actuation along body-planar directions of the aerial vehicle which might be required during the interaction to preserve passivity. The controller proposed in this paper guarantees passivity of the manipulator through a proper choice of end-effector coordinates, and that of vehicle fuselage is guaranteed by exploiting time domain passivity technique. Simulation studies validate the proposed approach.