Print Email Facebook Twitter A Centralised Approach to Aerial Manipulation on Overhanging Surfaces Title A Centralised Approach to Aerial Manipulation on Overhanging Surfaces Author Brummelhuis, Martijn (TU Delft Aerospace Engineering) Contributor Hamaza, S. (mentor) Smeur, E.J.J. (graduation committee) Degree granting institution Delft University of Technology Programme Aerospace Engineering Date 2023-04-21 Abstract Aerial physical interaction opens the door for many operations at height to be automatised using aerial robots. This research presents a novel manipulator design mounted on a traditional quadrotor, which utilises both mechanical and software compliance to perform physical interaction on vertical walls and overhanging surfaces, such as those found under bridges. A centralised impedance control scheme allows direct control of the end-effector pose without needing separate modes for free-flight and contact. A spring-loaded prismatic joint provides passive compliance while doubling as a force-feedback for the impedance controller through measuring the spring displacement. Simulation and flight experiments prove the feasibility and robustness of this approach for exchanging high forces at height, with a total of 44 successful experiments carried out in four sets. An average maximum force of 5.66 N or 19.3\% of the system's weight was achieved over one set of 11 experiments. Subject Aerial ManipulationAerial Physical InteractionImpedance controlCentralised modelingUAVROSDroneForce exertion To reference this document use: http://resolver.tudelft.nl/uuid:fd5e484b-bdd4-42e7-8cdc-70de94462858 Part of collection Student theses Document type master thesis Rights © 2023 Martijn Brummelhuis Files PDF Thesis_report_Martijn_Bru ... elhuis.pdf 7.76 MB Close viewer /islandora/object/uuid:fd5e484b-bdd4-42e7-8cdc-70de94462858/datastream/OBJ/view