The challenge of ensuring compliant behavior in aerial manipulators during physical interactions is addressed in this study. This work presents a coordinated interactive framework for aerial manipulators, specifically designed to ensure compliant physical interactions during contact with the surroundings. Without the reliance on force sensors, an external force estimator is employed to recognize interaction intentions. The coordinated framework leverages a Model Predictive Control (MPC) planner equipped with adaptive weights, facilitating the coordination of movements for both the quadrotor and manipulator. The adaptive adjustment of weights in the cost function allows for the attainment of diverse interaction behaviors in response to unexpected external forces. Notably, the methodology stands out from current control strategies by incorporating autonomous stiffness adjustment in response to interaction forces, thereby optimizing the delicate balance between safety and precision. The passivity of the system is guaranteed by using a Lyapunov-like function during the physical interaction. The effectiveness of the proposed framework is validated by experiments for the scenario of human operator and aerial manipulator collaborative work.

中文翻译：

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用于安全、合规物理交互的空中机械手协调框架

本研究解决了确保空中机械手在物理交互过程中合规行为的挑战。这项工作为空中机械手提供了一个协调的交互框架，专门设计用于确保与周围环境接触期间的合规物理交互。不依赖力传感器，采用外力估计器来识别交互意图。协调框架利用配备自适应权重的模型预测控制（MPC）规划器，促进四旋翼飞行器和机械臂的运动协调。成本函数中权重的自适应调整允许实现不同的交互行为以响应意外的外力。值得注意的是，该方法通过结合响应相互作用力的自主刚度调整来从当前的控制策略中脱颖而出，从而优化安全性和精度之间的微妙平衡。通过在物理交互过程中使用类李亚普诺夫函数来保证系统的被动性。通过人类操作员和空中机械手协作工作场景的实验验证了所提出框架的有效性。