An Adaptive-Compliance Manipulator for Contact-Based Aerial Applications

Salua Hamaza, Ioannis Georgilas, Thomas S. Richardson

Research output: Chapter in Book/Report/Conference proceedingConference contribution

7 Citations (Scopus)
173 Downloads (Pure)

Abstract

This paper presents simulation and airborne test results for a quadrotor equipped with an actively-variable compliance manipulator for contact interaction. Typical ap- plications 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.
Original languageEnglish
Title of host publicationAIM 2018 - IEEE/ASME International Conference on Advanced Intelligent Mechatronics
PublisherIEEE
Pages730-735
Number of pages6
ISBN (Print)9781538618547
DOIs
Publication statusPublished - 30 Aug 2018

Publication series

NameIEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM
Volume2018-July

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ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Control and Systems Engineering
  • Computer Science Applications
  • Software

Cite this

Hamaza, S., Georgilas, I., & Richardson, T. S. (2018). An Adaptive-Compliance Manipulator for Contact-Based Aerial Applications. In AIM 2018 - IEEE/ASME International Conference on Advanced Intelligent Mechatronics (pp. 730-735). [8452382] (IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM; Vol. 2018-July). IEEE. https://doi.org/10.1109/AIM.2018.8452382