Lippiello, Vincenzo and Ruggiero, Fabio (2012) Cartesian Impedance Control of a UAV with a Robotic Arm. (Submitted)

[img]
Preview
Text
SYROCO12_0158_MS.pdf

Download (560kB) | Preview
[error in script] [error in script]
Item Type: Article
Lingua: English
Title: Cartesian Impedance Control of a UAV with a Robotic Arm.
Creators:
CreatorsEmail
Lippiello, VincenzoUNSPECIFIED
Ruggiero, FabioUNSPECIFIED
Date: October 2012
Date Type: Submission
Number of Pages: 6
Institution: Università degli Studi di Napoli Federico II
Department: Dipartimento di Informatica e Sistemistica
Sezione di dipartimento: PRISMA Lab,
Date: October 2012
Number of Pages: 6
Uncontrolled Keywords: Mobile robots and vehicles; Space; Force and compliance control
References: Submitted to 10th International IFAC Symposium on Robot Control, Dubrovnik, Croatia, Sep. 5-9, 2012
Settori scientifico-disciplinari del MIUR: Area 01 - Scienze matematiche e informatiche > INF/01 - Informatica
Access rights: Open access
Additional Information: AIRobots
Date Deposited: 12 Sep 2014 11:10
Last Modified: 17 May 2017 17:34
URI: http://www.fedoa.unina.it/id/eprint/9621

Abstract

The dynamic model of a UAV with an attached robotic arm is derived in a symbolic matrix form through the Euler-Lagrangian formalism. A Cartesian impedance control, which provides a dynamic relationship between external generalized forces acting on the structure and the system motion, is then designed. The hovering control of a quadrotor, equipped with a 3-DOF robotic arm and subject to contact forces and external disturbances, is tested in a simulated case study

Actions (login required)

View Item View Item