Abstract:The aerial manipulator is a novel flying robot consisting of an unmanned aerial vehicle (UAV) and a multi-degree-of-freedom (DoF) robotic arm. It can actively interact with the environment to conduct dangerous or inaccessible tasks for humans. In this paper, we propose a composite control scheme considering force and position for the aerial manipulator to operate in steady contact with the environment when influenced by external disturbances. First, a contact force control method without employing the force se… Show more
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