Sarkisov, Y., Coelho, A., Santos, M. G., Kim, M. J., Tsetserukou, D., Ott, C., & Kondak, K. (2023). Hierarchical Whole-body Control of the cable-Suspended Aerial Manipulator endowed with Winch-based Actuation. In 2023 IEEE International Conference on Robotics and Automation (ICRA) (pp. 5366–5372). IEEE. https://doi.org/10.1109/ICRA48891.2023.10160718
2023 IEEE International Conference on Robotics and Automation (ICRA)
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ISBN:
979-8-3503-2365-8
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Date (published):
2023
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Event name:
2023 International Conference on Robotics and Automation (ICRA)
en
Event date:
29-May-2023 - 2-Jun-2023
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Event place:
London, United Kingdom of Great Britain and Northern Ireland (the)
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Number of Pages:
7
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Publisher:
IEEE, Piscataway
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Keywords:
Robotik; Regelung
de
Abstract:
During operation, aerial manipulation systems are affected by various disturbances. Among them is a gravitational torque caused by the weight of the robotic arm. Common propeller-based actuation is ineffective against such disturbances because of possible overheating and high power consumption. To overcome this issue, in this paper we propose a winch-based actuation for the crane-stationed cable-suspended aerial manipulator. Three winch-controlled suspension rigging cables produce a desired cable tension distribution to generate a wrench that reduces the effect of gravitational torque. In order to coordinate the robotic arm and the winch-based actuation, a model-based hierarchical whole-body controller is adapted. It resolves two tasks: keeping the robotic arm end-effector at the desired pose and shifting the system center of mass in the location with zero gravitational torque. The performance of the introduced actuation system as well as control strategy is validated through experimental studies.
