Aerial Manipulation with Six-Axis Force and Torque Sensor Feedback Compensation

Author(s)

Buzzatto, J. P. S. ; Hernandes, A. C. ; Becker, M. ; Caurin, G. A. de P. ; DoNascimento, TP ; Colombini, EL ; DeBrito, AV ; Garcia, LTD ; Sa, STD ; Goncalves, LMG

• Document type: Journal article
• Source: 15TH LATIN AMERICAN ROBOTICS SYMPOSIUM 6TH BRAZILIAN ROBOTICS SYMPOSIUM 9TH WORKSHOP ON ROBOTICS IN EDUCATION (LARS/SBR/WRE 2018); v. N/A, p. 6-pg., 2018-01-01.

Abstract

This paper presents a framework for aerial manipulation based on the feedback compensation of torques and forces measured by a six-axis F/T sensor, placed between the UAV and the robotic arm attached below it. An attitude controller that compensates for the sensed torques and a novel position controller are presented. The framework capabilities are evaluated by simulating the robot doing a pouring task. Results showed a system capable of successfully doing the pouring task with a payload representing 10% of the whole system weight, in less than 20 seconds. (AU)

• FAPESP's process: 17/01555-7 - Robots and neuronavigation applied to neurosurgery
• Grantee: Glauco Augusto de Paula Caurin
• Support Opportunities: Regular Research Grants