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

15TH LATIN AMERICAN ROBOTICS SYMPOSIUM 6TH BRAZILIAN ROBOTICS SYMPOSIUM 9TH WORKSHOP ON ROBOTICS IN EDUCATION (LARS/SBR/WRE 2018)

28 de maio de 2019 LAbI UFSCar Artigo 0

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

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.

Author(s): Buzzatto, JPS; Hernandes, AC; Becker, M; Caurin, GAD

15TH LATIN AMERICAN ROBOTICS SYMPOSIUM 6TH BRAZILIAN ROBOTICS SYMPOSIUM 9TH WORKSHOP ON ROBOTICS IN EDUCATION (LARS/SBR/WRE 2018)

Pages: 158-163 Published: 2018

DOI: 10.1109/LARS/SBR/WRE.2018.00037

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O Laboratório Aberto de Interatividade para Disseminação do Conhecimento Científico e Tecnológico (LAbI), vinculado à Universidade Federal de São Carlos (UFSCar), é voltado à prática da divulgação científica pautada na interatividade; nas relações entre Ciência, Arte e Tecnologia.