Indirect Force Control of a Cable-Suspended Aerial Multi-Robot Manipulator

We present the control in physical interaction with environment of a Cable-suspended Aerial Multi-Robot Manipulator (CS-AMRM) called Fly-Crane , composed three aerial vehicles towed to platform by means six cables. The strategy enables system accurately and safely perform tasks involving expected or unexpected interactions between environment, absence dedicated force/torque sensors. A previously developed Inverse Kinematic Controller (IKC) is enhanced an admittance framework, contacts are estimated through generalized momentum-based observer. To assess validity our approach, provide practical insights into method, we extensive experimental tests, comprehending property shaping modulate stiffness, damping, virtual mass, as well experiments more realistic scenario environment.