This paper focuses on the problem of handling impacts by means of an aerial manipulator and proposes a solution that combines the control of the aerial manipulator's end-effector position with an innovative manipulation system consisting of both active and passive joints. The approach aims at limiting the influence of impacts on the controlled attitude dynamics in order to allow the aerial manipulator to remain stable during and after impact. The developed concept is intended to convert kinetic energy into potential energy, which is permanently stored into elastic bands by means of a directional locking mechanism. The proposed approach has been validated through experiments, in comparison with a rigid manipulator. The results show that, compared with the case of a rigid manipulator, the proposed approach and the developed mechanical system achieve stable impact absorption without bouncing away from the interacting environment.

No abstract