This paper presents a static-equilibrium oriented interaction force modeling and control approach of aerial manipulation employing uni-directional thrust (UDT) multirotors interacting with variously defined environments. First, a simplified system model for a quadrotor-based aerial manipulator is introduced considering parameterized work surfaces under assumptions, and then a range of meaningful manipulation tasks are utilized to explore the system properties in a quasi-static equilibrium state. An explicit interaction force model in relation with the aerial manipulator pose configuration and the environment parameter is derived from the static equilibrium analysis, based on which singularity is pointed out. Then a hybrid attitude/force interaction control strategy is presented to verify the proposed interaction force model, which involves high gain attitude control and feedforward plus feedback force control. This paper represents preliminary results. We study the properties of UDT-based aerial manipulators via specific tasks, and propose a novel framework for interaction force modeling and control aiming at maximizing the commercial values of UDT platforms for aerial manipulation purpose.

翻译：本文提出了一种面向静态平衡的交互力建模与控制方法，用于采用单向推力（UDT）多旋翼飞行器与多样化环境进行空中交互操作。首先，在考虑参数化工作表面及假设条件下，引入基于四旋翼的空中操作简化系统模型，并通过一系列有意义的操作任务探究准静态平衡状态下的系统特性。基于静态平衡分析，推导出与空中操作器位姿构型及环境参数显式关联的交互力模型，并指出其存在的奇异性。随后提出一种混合姿态/力交互控制策略以验证所提出的交互力模型，该策略包含高增益姿态控制与前馈加反馈力控制。本文为初步研究成果。通过特定任务研究了基于UDT的空中操作器特性，并提出一种新型交互力建模与控制框架，旨在最大化UDT平台在航空操作应用中的商业价值。