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


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Item Type: Article
Resource language: English
Title: Cartesian Impedance Control of a UAV with a Robotic Arm.
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
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

Collection description

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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