Passive Compliance Control of Aerial Manipulators
This work addresses stability issues in aerial manipulation for robotics applications, but it appears incremental as it builds on existing passivity techniques without introducing a new paradigm.
The paper tackled the challenge of stable environmental interactions for aerial manipulators by proposing a passive compliance control method that ensures passivity in both the manipulator and vehicle fuselage, validated through simulation studies.
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.