Automated Aerial Screwing with a Fully Actuated Aerial Manipulator

Micha Schuster*, David Bernstein, Paul Reck, S. Hamaza, Michael Beitelschmidt

*Corresponding author for this work

Research output: Chapter in Book/Conference proceedings/Edited volumeConference contributionScientificpeer-review

1 Citation (Scopus)
19 Downloads (Pure)

Abstract

The tasks that unmanned aerial vehicles (UAVs) have taken upon have progressively grown in complexity over the years, alongside with the level of autonomy with which they are carried out. In this work, we present an example
of aerial screwing operations with a fully-actuated tilt-rotor platform. Key contributions include a new control framework to automate screwing operations through a robust hole search and in-hole detection algorithm. These are achieved without a-priori knowledge of the exact hole location, and without
the use of external tools, such as vision based hole detection or force sensors. Wrench coupling is implemented to account for the platform's kinematic constraints during screwing. The application of a constant contact force and a compliant response
to induced disturbances are obtained with the use of admittance
control. The full framework is validated with extensive flight
experiments that demonstrate the effectiveness of each subsystem,
as well as the complete architecture. We also validate
the robustness of the detection algorithm against false positives.
Within the results we demonstrate the ability to perform the
automated task with a 86% success rate over 35 flights, and
measured hole search time of 9s (median value).
Original languageEnglish
Title of host publicationIEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2022
Pages3340-3347
Number of pages8
ISBN (Electronic)9781665479271
DOIs
Publication statusPublished - 2022
EventThe 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2022): IROS 2022 - Kyoto, Japan
Duration: 23 Oct 202227 Oct 2022

Publication series

NameIEEE International Conference on Intelligent Robots and Systems
Volume2022-October
ISSN (Print)2153-0858
ISSN (Electronic)2153-0866

Conference

ConferenceThe 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2022)
Abbreviated titleIROS 2022
Country/TerritoryJapan
CityKyoto
Period23/10/2227/10/22

Bibliographical note

Green Open Access added to TU Delft Institutional Repository ‘You share, we take care!’ – Taverne project https://www.openaccess.nl/en/you-share-we-take-care
Otherwise as indicated in the copyright section: the publisher is the copyright holder of this work and the author uses the Dutch legislation to make this work public.

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