Resumen:
This paper presents a bilateral teleoperation scheme for the aerial ma nipulator consisting of a 3DOF robotic arm on a six-propeller unmanned aerial vehicle (Matrix 600 Pro), which allows the operator to perform complex tasks in partially structured environments. The development of the controller is based on the kinematic model of the aerial manipulator, which allows precise control of its movements in relation to the use of a haptic device (Falcon Novint), which allows a feedback of forces from the operator environment. In addition, a teleoperation control scheme is proposed that performs actions in: i) Locomotion mode, this allows the manipulation and navigation of the robot's movement; ii) Navigation mode, which allows transmitting the desired movement of the UAV by means of speed signals; and iii) Manipulation mode, allows to transmit the desired move ment of the robotic arm through positions. Tests were performed in a virtual re ality environment, in order to test control algorithms and perform simulations that resemble the conditions of a real environment, in addition experimental tests of the proposed teleoperation scheme were performed, obtaining an optimal be havior of the aerial manipulator robot. Finally, simulation results will be presented to validate and test the teleoperation scheme.
