Lippiello, Vincenzo and Ruggiero, Fabio
(2012)
Cartesian Impedance Control of a UAV with a Robotic Arm.
(Submitted)
| Item Type: |
Article
|
| Lingua: |
English |
| Title: |
Cartesian Impedance Control of a UAV with a Robotic Arm. |
| Creators: |
| Creators | Email |
|---|
| Lippiello, Vincenzo | UNSPECIFIED | | Ruggiero, Fabio | UNSPECIFIED |
|
| 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 |
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| 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
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