| Autor: |
Chaikalis, Dimitris, Goncalves, Vinicius, Evangeliou, Nikolaos, Tzes, Anthony, Khorrami, Farshad |
| Rok vydání: |
2023 |
| Předmět: |
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| Druh dokumentu: |
Working Paper |
| Popis: |
This article introduces a safe control strategy for application of forces to an external object using a dexterous robotic arm mounted on an unmanned Aerial Vehicle (UAV). A hybrid force-motion controller has been developed for this purpose. This controller employs a Control Barrier Function (CBF) constraint within an optimization framework based on Quadratic Programming (QP). The objective is to enforce a predefined relationship between the end-effector's approach motion and its alignment with the surface, thereby ensuring safe operational dynamics. No compliance model for the environment is necessary to implement the controller, provided end-effector force feedback exists. Furthermore, the paper provides formal results, like guarantees of feasibility for the optimization problem, continuity of the controller input as a function of the configuration, and Lyapunov stability. In addition, it presents experimental results in various situations to demonstrate its practical applicability on an aerial manipulator platform. |
| Databáze: |
arXiv |
| Externí odkaz: |
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