Multi-directional Interaction Force Control with an Aerial Manipulator Under External Disturbances

Abstract To improve accuracy and robustness of interactive aerial robots, the knowledge forces acting on platform is uttermost importance. The robot should distinguish interaction from external disturbances in order to be compliant with firsts reject seconds. This represents a challenge since might different nature (physical contact, aerodynamic, modeling errors) applied points robot. work presents new $$\hbox {extended Kalman filter (EKF)}$$ extended (EKF) based estimator for both disturbance forces. fuses information coming system’s dynamic model it’s state wrench measurements Force-Torque sensor. allows robust control at tool’s tip even presence wrenches platform. We employ estimates novel hybrid force/motion controller perform force tracking not only along tool direction, but any platform’s orientation, without losing stability pose controller. proposed framework extensively tested an omnidirectional manipulator (AM) performing push slide operations transitioning between surfaces, while subject disturbances. experiments are done equipping AM two tools: rigid stick actuated delta manipulator, showing generality approach. Moreover, estimation results compared state-of-the-art momentum-based estimator, clearly superiority EKF