Horizontal Sustained Force Delivery with an Aerial Manipulator Using Hybrid Force/Position Control

摘要

This paper introduces a novel hybrid force/position control system tailored for aerial manipulators, aiming to enable efficient and sustained delivery of horizontal forces. Unlike existing approaches mainly designed for ground-fixed manipulators, this architecture is specifically developed for aerial robotics. By leveraging physics-engine based simulations, the proposed system demonstrates effectiveness in generating large controlled forces over extended periods, improving comparable hybrid controllers documented in the literature. These findings offer valuable insights for optimizing aerial manipulators, particularly in scenarios necessitating prolonged horizontal force exertion. The study's contributions hold promise for various applications, including search and rescue operations, infrastructure maintenance, and environmental monitoring, thereby driving advancements in aerial manipulation technologies,