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:
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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

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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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