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. |
| 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, |
| Identification Number: | 10.6093/UNINA/FEDOA.00009621 |
| 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 |
| Identification Number: | 10.6093/UNINA/FEDOA.00009621 |
| 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: | 13 Dec 2024 09:46 |
| URI: | http://www.fedoa.unina.it/id/eprint/9621 |
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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