Multicopter uncrewed aircraft systems (UAS) commonly use parallel rotors to create body-fixed thrust and torque for control, leaving these systems underactuated. Under-actuation poses a significant challenge in tasks where attitude is critical, such as in collision-based aerial manipulation. Planning and control of system state at collision is required to ensure safe post-collision recovery. In particular, setting up pre-impact states such that impulses do not produce moments about mass centers can ensure recoverable departure velocities. To address the underactuated nature of UAS for collision-based aerial manipulation, this paper presents a UAS with an attached actuated pogostick. While the UAS with actuated pogostick is still underactuated, closing a control loop on the collision variables critical to managing collision response becomes possible with the new system equations. The proposed approach leverages an optimal trajectory planner coupled with a run-time controller based on partial feedback linearization of the UAS with actuated pogostick. Results show that the addition of the actuated pogostick enables setup for recoverable post-collision states when given dynamically feasible trajectories from the optimal trajectory planner.
Shifting Underactuated Configuration Variables in Aerial Manipulation by Adding an Actuated Arm
14.05.2025
2071638 byte
Aufsatz (Konferenz)
Elektronische Ressource
Englisch
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