Improving Dynamics of an Aerial Manipulator with Elastic Suspension Using Nonlinear Model Predictive Control
Arda Yiğit, Miguel Arpa Perozo, Loïc Cuvillon, Sylvain Durand, Jacques Gangloff
Abstract
Aerial manipulation increases significantly the workspace size of robotic manipulators. However, aerial manipulation suffers from a lack of autonomy due to limited embedded energy. The Aerial Manipulator with Elastic Suspension (AMES) is designed to cope with this issue. It is an omnidirectional aerial vehicle equipped with a gripper and suspended under a robotic carrier by a spring for gravity compensation. In this paper, the AMES is controlled with a nonlinear model predictive controller (NMPC). To eliminate the steady-state errors, an observer based on a model of the AMES augmented with constant disturbances is implemented in conjunction with the NMPC controller. Experiments illustrate the efficiency of the NMPC by comparing it to a computed torque controller.
BibTeX
@inproceedings{icra2021_improvingdynamic,
title = {Improving Dynamics of an Aerial Manipulator with Elastic Suspension Using Nonlinear Model Predictive Control},
author = {Arda Yiğit and Miguel Arpa Perozo and Loïc Cuvillon and Sylvain Durand and Jacques Gangloff},
booktitle = {ICRA 2021},
year = {2021}
}