Wrench Estimation and Impedance-based Control applied to a Flying Parallel Robot Interacting with the Environment

Multi-vehicle aerial robots present great potential in accomplishing manipulation tasks, because of their high payload capacity and full manipulability 3-dimensional space. Belonging to this class robots, the Flying Parallel Robot (FPR) is an architecture where a moving platform supported collectively by team quadrotors with passive kinematic chains. While modelling control FPR free space has been studied previous work, there lack consideration robot-environment interaction, which however significant develop industrial applications such robots. In paper, we implement external wrench estimator impedance-based controller force tracking capability achieve disturbance rejection physical interaction environment. Extensive experimental validations have shown capable hovering presence additional strong wind perturbations, performing contact-based tasks.