Human-robot co-working is a promising direction in the field of Robotics. Robots can aid humans by performing tasks by interacting with each other. Mostly fixed-base manipulators have been used in the industry to this day, but with the start of the EU H2020 Aerial-CORE project, aerial manipulators have gained more attention. Aerial manipulators can be utilized at elevated places to reduce the time required to perform dangerous tasks performed by humans. But, the safety of the human should always be of the highest priority in these situations and it is therefore important that the robot is controlled safely. However, due to the dynamic interaction between the human and the robot, collisions may still occur. The damage during these collisions should always be minimized to preserve the safety of humans.
This thesis is a study on the effect of admittance control on the safety of a human when the human collides with a redundant aerial manipulator.