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

2 Citations (Scopus)

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.
LanguageEnglish
Title of host publicationIEEE International Conference on Advanced Intelligent Mechatronics
PublisherIEEE
StatusPublished - 12 Jul 2018

Fingerprint

End effectors
Manipulators
Actuators
Antennas
Nondestructive examination
Tuning
Aircraft
Control systems
Sensors
Compliance

Cite this

Hamaza, S., Georgilas, I., & Richardson, T. S. (2018). An Adaptive-Compliance Manipulator for Contact-Based Aerial Applications. In IEEE International Conference on Advanced Intelligent Mechatronics IEEE.

An Adaptive-Compliance Manipulator for Contact-Based Aerial Applications. / Hamaza, Salua; Georgilas, Ioannis; Richardson, Thomas S.

IEEE International Conference on Advanced Intelligent Mechatronics. IEEE, 2018.

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

Hamaza, S, Georgilas, I & Richardson, TS 2018, An Adaptive-Compliance Manipulator for Contact-Based Aerial Applications. in IEEE International Conference on Advanced Intelligent Mechatronics. IEEE.
Hamaza S, Georgilas I, Richardson TS. An Adaptive-Compliance Manipulator for Contact-Based Aerial Applications. In IEEE International Conference on Advanced Intelligent Mechatronics. IEEE. 2018
Hamaza, Salua ; Georgilas, Ioannis ; Richardson, Thomas S. / An Adaptive-Compliance Manipulator for Contact-Based Aerial Applications. IEEE International Conference on Advanced Intelligent Mechatronics. IEEE, 2018.
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