TY - GEN
T1 - An adaptive-compliance manipulator for contact-based aerial applications
AU - Hamaza, Salua
AU - Georgilas, Ioannis
AU - Richardson, Thomas
PY - 2018
Y1 - 2018
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=85053896248&partnerID=8YFLogxK
U2 - 10.1109/AIM.2018.8452382
DO - 10.1109/AIM.2018.8452382
M3 - Conference contribution
AN - SCOPUS:85053896248
SN - 9781538618547
T3 - IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM
SP - 730
EP - 735
BT - AIM 2018 - IEEE/ASME International Conference on Advanced Intelligent Mechatronics
PB - Institute of Electrical and Electronics Engineers (IEEE)
T2 - 2018 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2018
Y2 - 9 July 2018 through 12 July 2018
ER -