A Compact Aerial Manipulator: Design and Control for Dexterous Operations

摘要

Abstract The lack of aerial physical interaction capability is one of the choke points limiting the extension of aerial robot applications, such as rescue missions and aerial maintenance. We present a new aerial robotic manipulator (AEROM) for aerial dexterous operations in this work. It contains a robotic manipulator with 6-degree-of-freedom and a compact flight platform. Firstly, we propose a quantitative capability index to evaluate and guide the mechanical design of the AEROM. Based on the proposed quantitative index, we construct a lightweight bird-inspired manipulator to imitate a raptor hindlimb. An additional telescopic joint and an end-effector consisting of three soft fingers allow the AEROM to execute aerial interaction tasks. In addition, the wrist joints enable independent control of the end-effector attitude regardless of the flight platform. After explicitly analyzing the multi-source disturbances during the aerial operation tasks, we develop a refined anti-disturbance controller to compensate for the disturbances with different characteristics. The proposed controller further improves the position accuracy of end-effector to enable dexterous operations during aerial interaction tasks. Finally, the physical experiments verify the effectiveness of the proposed AEROM system.