Aerial Manipulation with Six-Axis Force and Torque Sensor Feedback Compensation

This paper presents a framework for aerial manipulation based on the feedback compensation of torques and forces measured by a six-axis F/T sensor, placed between the UAV and the robotic arm attached below it. An attitude controller that compensates for the sensed torques and a novel position controller are presented. The framework capabilities are evaluated by simulating the robot doing a pouring task. Results showed a system capable of successfully doing the pouring task with a payload representing 10% of the whole system weight, in less than 20 seconds.