In this work, we present a novel design for vertical surface contact using a two degree of freedom robotic arm attached to a Micro Air Vehicle. To achieve this, we propose a controller based on a Gain-Scheduled Proportional–Integral–Derivative approach. In previous works, the Gain-Scheduled Proportional–Integral–Derivative method was used to control the attitude of the Micro Air Vehicle, thus mitigating the perturbations induced by the movement of the arm. The novel approach of this work focuses on the achievement of an automatized full-contact with a rigid vertical surface using a Micro Air Vehicle with a robotic arm. We have improved the capabilities of the Gain-Scheduled Proportional–Integral–Derivative control to consider the inherent issues of approximating to a flat structure in order to carry out an aerial interaction task successfully. For the Micro Air Vehicle’s position feedback, a motion capture system is used in this work. A paintbrush attached to the end effector of the arm is used to draw over a whiteboard surface to show the full contact of the aerial manipulator. A distance sensor is added to the on-board sensors to measure the distance between the vertical surface and the system to ensure a correct distance and achieve a safe contact. Experimental testing results show that the controller can maintain a stable flight with sufficient accuracy to complete the aerial interaction tasks.

在这项工作中，我们提出了一种新型的垂直表面接触设计，它使用了连接到微型飞行器的两个自由度的机械臂。为了实现这一目标，我们提出了一种基于增益调度的比例积分积分微分方法的控制器。在以前的工作中，使用增益预定比例-积分-微分方法来控制微型飞行器的姿态，从而减轻了手臂运动引起的干扰。这项工作的新颖方法着重于使用带有机械臂的微型飞行器实现与刚性垂直表面的自动化全接触。我们已经提高了增益调度的比例-积分-微分控制的功能，以考虑近似于平坦结构的固有问题，从而成功地完成了空中互动任务。对于微型飞机的位置反馈，在这项工作中使用了运动捕捉系统。附着在手臂末端执行器上的画笔用于在白板表面上绘制，以显示空中操纵器的完全接触。车载传感器上增加了一个距离传感器，以测量垂直表面与系统之间的距离，以确保正确的距离并实现安全接触。实验测试结果表明，该控制器能够以足够的精度保持稳定的飞行，以完成空中互动任务。车载传感器上增加了一个距离传感器，以测量垂直表面与系统之间的距离，以确保正确的距离并实现安全接触。实验测试结果表明，该控制器能够以足够的精度保持稳定的飞行，以完成空中互动任务。车载传感器上增加了一个距离传感器，以测量垂直表面与系统之间的距离，以确保正确的距离并实现安全接触。实验测试结果表明，该控制器能够以足够的精度保持稳定的飞行，以完成空中互动任务。