Lippiello, Vincenzo and Ruggiero, Fabio (2012) Exploiting Redundancy in Cartesian Impedance Control of UAVs Equipped with a Robotic Arm. In: 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems October 7-12, 2012. Vilamoura, Algarve, Portugal. IEEE, pp. 3768-3773. ISBN 978-1-4673-1737-5
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| Item Type: | Book Section |
|---|---|
| Resource language: | English |
| Title: | Exploiting Redundancy in Cartesian Impedance Control of UAVs Equipped with a Robotic Arm |
| Creators: | Creators Email Lippiello, Vincenzo UNSPECIFIED Ruggiero, Fabio UNSPECIFIED |
| Date: | 2012 |
| Number of Pages: | 6 |
| Institution: | Università degli Studi di Napoli Federico II |
| Department: | Ingegneria elettrica e delle Tecnologie dell'Informazione |
| Title of Book: | 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems October 7-12, 2012. Vilamoura, Algarve, Portugal |
| Publisher: | IEEE |
| Date: | 2012 |
| ISBN: | 978-1-4673-1737-5 |
| Page Range: | pp. 3768-3773 |
| Number of Pages: | 6 |
| Access rights: | Open access |
| Additional information: | AIRobots |
| Date Deposited: | 24 Jun 2014 11:12 |
| Last Modified: | 17 May 2017 17:30 |
| URI: | http://www.fedoa.unina.it/id/eprint/9597 |
Collection description
A Cartesian impedance control for UAVs equipped with a robotic arm is presented in this paper. A dynamic relationship between generalized external forces acting on the structure and the system motion, which is specified in terms of Cartesian space coordinates, is provided. Through a suitable choice of such variables and with respect to a given task, thanks to the added degrees of freedom given by the robot arm attached to the UAV, it is possible to exploit the redundancy of the system so as to perform some useful subtasks. The hovering control of a quadrotor, equipped with a 3-DOF robotic arm and subject to contact forces and external disturbances acting on some points of the whole structure, is tested in a simulated case study.
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