This technology is an operating system and method for mechanical structures that estimates the real-time end-effector velocity of a robotic arm coupled to a multirotor. By inputting this data into a directional filter, it dynamically models the movement direction and mechanical constraints of unknown structures, such as drawers, and controls the multirotor's thrust and moment through ideal force setting and end-effector trajectory optimization.
When aerial manipulators interact with constrained mechanical structures like drawers or doors, a lack of prior information regarding their movement direction, mass, and damping characteristics has historically made effective interaction and precise force control difficult.
This technology proposes a method that detects structural movement via an end-effector velocity estimator, determines constrained movement directions through a directional filter, and calculates the necessary force for structural movement using an ideal force setting unit. This allows for the control of the multirotor's position and orientation, enabling harmonious interaction with mechanical structures. It can be applied to facility inspections, opening doors in disaster zones, and remote operations. By enabling interaction without prior information about the target structure, it significantly enhances the operational autonomy of aerial robots.
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