Stability and Robustness Analysis of Plug-Pulling using an Aerial Manipulator
Jeonghyun Byun,Dongjae Lee,Hoseong Seo,Inkyu Jang,Jeongjun Choi,H. Jin Kim,Jeonghyun Byun,Dongjae Lee,Hoseong Seo,Inkyu Jang,Jeongjun Choi,H. Jin Kim
In this paper, an autonomous aerial manipulation task of pulling a plug out of an electric socket is conducted, where maintaining the stability and robustness is challenging due to sudden disappearance of a large interaction force. The abrupt change in the dynamical model before and after the separation of the plug can cause destabilization or mission failure. To accomplish aerial plug-pulling, we...
