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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| Tipologia del documento: | Capitolo di libro | ||||||
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| Lingua: | English | ||||||
| Titolo: | Exploiting Redundancy in Cartesian Impedance Control of UAVs Equipped with a Robotic Arm | ||||||
| Autori: |
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| Data: | 2012 | ||||||
| Numero di pagine: | 6 | ||||||
| Istituzione: | Università degli Studi di Napoli Federico II | ||||||
| Dipartimento: | Ingegneria elettrica e delle Tecnologie dell'Informazione | ||||||
| Titolo dell'opera che contiene il documento: | 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems October 7-12, 2012. Vilamoura, Algarve, Portugal | ||||||
| Editore: | IEEE | ||||||
| Data: | 2012 | ||||||
| ISBN: | 978-1-4673-1737-5 | ||||||
| Intervallo di pagine: | pp. 3768-3773 | ||||||
| Numero di pagine: | 6 | ||||||
| Diritti di accesso: | Accesso aperto | ||||||
| Informazioni aggiuntive: | AIRobots | ||||||
| Depositato il: | 24 Giu 2014 11:12 | ||||||
| Ultima modifica: | 17 Mag 2017 17:30 | ||||||
| URI: | http://www.fedoa.unina.it/id/eprint/9597 |
Abstract
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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