An adaptive-compliance manipulator for contact-based aerial applications

Salua Hamaza, Ioannis Georgilas, Thomas Richardson

Research output: Chapter in Book/Report/Conference proceedingConference Contribution (Conference Proceeding)

10 Citations (Scopus)
168 Downloads (Pure)

Abstract

This paper presents simulation and airborne test results for a quadrotor equipped with an actively-variable compliance manipulator for contact interaction. Typical applications of this type of manipulator might include sensor placement operations and non-destructive testing. It is shown that through the use of the proposed manipulator, the force experienced at the end-effector can be adaptively controlled, and the effect of interactions on the aircraft itself minimised. Simulation and airborne results show a consistent correlation between the peak loads experienced at the end-effector and the actuator gains. A lightweight, adaptively-compliant actuator of this type offers the opportunity not only to tailor different demanded forces at the end-effector, but also to shape the loads applied - effects which can be achieved by changing only the software structure and tuning of the actuator control system.

Original languageEnglish
Title of host publication2018 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM 2018)
PublisherInstitute of Electrical and Electronics Engineers (IEEE)
Pages730-735
Number of pages6
ISBN (Electronic)9781538618547
ISBN (Print)9781538618554
DOIs
Publication statusPublished - 3 Sep 2018
Event2018 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2018 - Auckland, New Zealand
Duration: 9 Jul 201812 Jul 2018

Publication series

Name
ISSN (Print)2159-6255

Conference

Conference2018 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2018
CountryNew Zealand
CityAuckland
Period9/07/1812/07/18

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