推力により天井固定可能なロータ分散型飛行マニピュレータの開発と飛行・吸着および手先位置制御

抄録

In this paper, we develop a rotor-distributed aerial manipulator and propose a flight, perching, and end-effector position control. The robot that consists of a foot and rotor-distributed arm module can fly and perch on ceilings using the rotor thrust. For deformation during flight, we improve the linear quadratic intergral (LQI) control using gimbal control. For stable perching, we propose a quadratic programming (QP) based controller to calculate the desired contact wrench, considering the static friction and zero moment point (ZMP) conditions on the footplate. Furthermore, we propose an end-effector control based on the inverse kinematics (IK), considering rotor thrust and joint velocity/torque limitations for stable manipulation during perching. Finally, we verified the end-effector stability and conducted a drill manipulation. The experiments show that the end effector of the multilink aerial robot during perching becomes more stable than those during flight.