Adaptive stiffness estimation impedance control for achieving sustained contact in aerial manipulation
Lovro Marković Marko Car Matko Orsag Stjepan Bogdan Lovro Marković Marko Car Matko Orsag Stjepan Bogdan
This paper presents a manipulator-equipped unmanned aerial vehicle (UAV) performing contact-based surface inspection. Using stereo camera information, a contact point is determined and an approach path is generated to ensure an autonomous workflow. The proposed inspection method uses an impedance controller to regulate the force applied by the end-effector to the contact surface. Due to the often ...