Turković, Krešimir (Faculty of Electrical Engineering and Computing, Zagreb), Car, Marko (University of Zagreb), Orsag, Matko (University of Zagreb)

End-Effector Force Estimation Method for an Unmanned Aerialmanipulator

Scheduled for presentation during the Regular Session "Control Architectures II" (MoD13T2), Monday, November 25, 2019, 12:00−12:20, Room T2

2019 Workshop on Research, Education and Development of Unmanned Aerial Systems (RED UAS), November 25-27, 2019, Cranfield University, Cranfield, UK

This information is tentative and subject to change. Compiled on April 23, 2024

Abstract

This paper presents a detailed descrip- tion of the end-effector force estimation of a robotic manipulator attached to an unmanned aerial vehicle. In order to estimate the force, it is assumed that there is a link between the force acting on the end-effector and the change of the torques in the joints of the manipulator in relation to the unloaded manipulator. This link was presented with Newton-Euler’s dynamic model and the Jacobian matrix of the manipulator. The force estimation was tested and validated on several experiments of a manipulator mounted on the aerial vehicle.