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