| Issue |
MATEC Web Conf.
Volume 161, 2018
13th International Scientific-Technical Conference on Electromechanics and Robotics “Zavalishin’s Readings” - 2018
|
|
|---|---|---|
| Article Number | 03021 | |
| Number of page(s) | 5 | |
| Section | Robotics and Automation | |
| DOI | https://doi.org/10.1051/matecconf/201816103021 | |
| Published online | 18 April 2018 | |
Issues of physical interaction of unmanned aircraft manipulators with ground objects
1
SUAI, Department of Electromechanics and Robotics, 190000, Saint-Petersburg, Bolshaya Morskaya Str., 67, Russia
2
SPIIRAS, Laboratory of Autonomous Robotic Systems, 199178, Saint-Petersburg, 14-th line of V.I., 39, Russia
* Corresponding author: nguyenvanvinhhvkt@gmail.com
Adding an onboard manipulation system to an unmanned aerial vehicle (UAV) significantly complicates framework, functioning algorithms, and leads to an increase in overall dimensions. The physical interaction of the manipulator with objects influences to unstabilization of UAV, which in turn leads to difficulties in positioning the UAV and reduces the accuracy of gripper motion. In addition, the physical interaction of the manipulator with objects requires increased power resources of UAVs. The article analyzes modern research of UAVs with a manipulator, including flight control problems, avoidance of contact with the earth, surrounding space, as well as manipulations with the captured object. On the basis of the analysis, a list of new problems arising in the physical interaction of UAVs with objects through an embedded manipulator is formulated.
© The Authors, published by EDP Sciences, 2018
This is an Open Access article distributed under the terms of the Creative Commons Attribution License 4.0, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited. (http://creativecommons.org/licenses/by/4.0/).
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