This paper proposes a decentralized passive impedance control scheme for collaborative grasping using under-actuated aerial manipulators (AMs). The AM system is formulated, using a proper coordinate transformation, as an inertially decoupled dynamics with which a passivity-based control design is conducted. Since the interaction for grasping can be interpreted as a feedback interconnection of passive systems, an arbitrary number of AMs can be modularly combined, leading to a decentralized control scheme. Another interesting consequence of the passivity property is that the AMs automatically converge to a certain configuration to accomplish the grasping. Collaborative grasping using 10 AMs is presented in simulation.

翻译：本文提出了一种针对欠驱动空中机械臂协作抓取的分散式无源阻抗控制方案。通过适当的坐标变换，将空中机械臂系统建模为惯性解耦动力学模型，并基于此进行无源性控制设计。由于抓取过程中的交互作用可视为无源系统的反馈互联，任意数量的空中机械臂均可模块化组合，从而实现分散控制方案。无源性的另一个重要特性是空中机械臂会自动收敛到特定构型以完成抓取任务。仿真中展示了使用10个空中机械臂进行协作抓取的案例。