Energy-Tank Based Force Control for 3D Contour Following

Conference paper (2019)

Authors

S. Hamaza Bristol Robotics Laboratory, University of Bristol
Ioannis Georgilas University of Bath
Thomas Richardson Bristol Robotics Laboratory, University of Bristol
Affiliation
External organisation
Control Mechatronics Manipulation Compliance
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Published Date

2019

Language

English

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Affiliation

External organisation

Abstract

Manipulation has been a major topic in robotics since its earlier developments. In the last few years, a new research area has focused in the introduction of manipulation capabilities on mobile robots. Several challenges are faced when mobile robots interact with unknown environments, for which inherent compliance is a key feature to achieve the intended outcome in a safe and robust way. This paper proposes a unified method of force control with energy-tank based methods to tackle 3D contour following. This method is tailored for manipulators that are designed for aerial applications, and addresses the interaction with unknown surfaces by also tackling the safety aspect, i.e. the response generated during contact loss.