Safe Aerial Manipulator Maneuvering and Force Exertion via Control Barrier Functions
Fuente:
arXiv
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| Autori principali: | , , , , |
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| Natura: | Preprint |
| Pubblicazione: |
2023
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| Soggetti: | |
| Accesso online: | |
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| _version_ | 1866909213763043328 |
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| author | Chaikalis, Dimitris Goncalves, Vinicius Evangeliou, Nikolaos Tzes, Anthony Khorrami, Farshad |
| author_facet | Chaikalis, Dimitris Goncalves, Vinicius Evangeliou, Nikolaos Tzes, Anthony Khorrami, Farshad |
| contents | This article introduces a safe control strategy for application of forces to an external object using a dexterous robotic arm mounted on an unmanned Aerial Vehicle (UAV). A hybrid force-motion controller has been developed for this purpose. This controller employs a Control Barrier Function (CBF) constraint within an optimization framework based on Quadratic Programming (QP). The objective is to enforce a predefined relationship between the end-effector's approach motion and its alignment with the surface, thereby ensuring safe operational dynamics. No compliance model for the environment is necessary to implement the controller, provided end-effector force feedback exists. Furthermore, the paper provides formal results, like guarantees of feasibility for the optimization problem, continuity of the controller input as a function of the configuration, and Lyapunov stability. In addition, it presents experimental results in various situations to demonstrate its practical applicability on an aerial manipulator platform. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2309_07709 |
| institution | arXiv |
| publishDate | 2023 |
| record_format | arxiv |
| spellingShingle | Safe Aerial Manipulator Maneuvering and Force Exertion via Control Barrier Functions Chaikalis, Dimitris Goncalves, Vinicius Evangeliou, Nikolaos Tzes, Anthony Khorrami, Farshad Robotics This article introduces a safe control strategy for application of forces to an external object using a dexterous robotic arm mounted on an unmanned Aerial Vehicle (UAV). A hybrid force-motion controller has been developed for this purpose. This controller employs a Control Barrier Function (CBF) constraint within an optimization framework based on Quadratic Programming (QP). The objective is to enforce a predefined relationship between the end-effector's approach motion and its alignment with the surface, thereby ensuring safe operational dynamics. No compliance model for the environment is necessary to implement the controller, provided end-effector force feedback exists. Furthermore, the paper provides formal results, like guarantees of feasibility for the optimization problem, continuity of the controller input as a function of the configuration, and Lyapunov stability. In addition, it presents experimental results in various situations to demonstrate its practical applicability on an aerial manipulator platform. |
| title | Safe Aerial Manipulator Maneuvering and Force Exertion via Control Barrier Functions |
| topic | Robotics |
| url | https://arxiv.org/abs/2309.07709 |