Adaptive center-of-mass relocation for aerial manipulator fault tolerance

CLAUDIO POSE; JUAN I. GIRIBET; IGNACIO MAS

Filadelfia

Congreso; 2022 International Conference on Robotics and Automation (ICRA); 2022

IEEE

This work proposes a fault tolerant aerial ma-nipulator based on a standard hexarotor vehicle, which isable to maintain independent control of torque and verticalthrust in case of motor failure by adequately changing themanipulator configuration and therefore modifying the positionof the system?s center of mass.By analyzing the disturbance torque that the manipulatorexerts on the vehicle, conditions to achieve stable flight andoperation limits are established.To provide an experimental proof of concept, several flightsare performed, both in indoor and outdoor environments, fordifferent size and weight of manipulators.