First analysis and experiments in aerial manipulation using fully actuated redundant robot arm

In this paper we describe a system for aerial manipulation composed of a helicopter platform and a fully actuated seven Degree of Freedom (DoF) redundant industrial robotic arm. We present the first analysis of such kind of systems and show that the dynamic coupling between helicopter and arm can generate diverging oscillations with very slow frequency which we called phase circles. Based on the presented analysis, we propose a control approach for the whole system. The partial decoupling between helicopter and arm - which eliminates the phase circles - is achieved by means of special movement of robotic arm utilizing its redundant DoF. For the underlying arm control a specially designed impedance controller was proposed. In different flight experiments we showcase that the proposed kind of system type might be used in the future for practically relevant tasks. In an integrated experiment we demonstrate a basic manipulation task - impedance based grasping of an object from the environment underlaying a visual object tracking control loop.