Exploiting the dynamics of a robotic manipulator for control of UAVs

Research output: Chapter in Book/Report/Conference proceedingConference contributionAcademicpeer-review

8 Citations (Scopus)

Abstract

This paper presents a new free-flight controller for aerial manipulators, unmanned aerial vehicles endowed with a robotic manipulator. The control strategy exploits the dynamics of the manipulator to improve the tracking performance and maneuverability of the UAV by expanding its flight envelop. The controller increases the spectrum of deployable manipulators, which otherwise are limited to be light-weighted manipulators and with a dynamics that do not significantly affect the UAV. The effectiveness and applicability of the proposed controller is verified through simulations and experiments.
Original languageEnglish
Title of host publicationProceedings of the International Conference on Robotics and Automation 2014
Place of PublicationUSA
PublisherIEEE ROBOTICS AND AUTOMATION SOCIETY
Pages1741-1746
Number of pages6
ISBN (Print)978-1-4799-3684-7
DOIs
Publication statusPublished - Jun 2014
Event2014 IEEE International Conference on Robotics and Automation, ICRA 2014 - Hong Kong, China
Duration: 31 May 20147 Jun 2014

Conference

Conference2014 IEEE International Conference on Robotics and Automation, ICRA 2014
Abbreviated titleICRA
CountryChina
CityHong Kong
Period31/05/147/06/14

Fingerprint

Unmanned aerial vehicles (UAV)
Manipulators
Robotics
Controllers
Free flight
Maneuverability
Antennas
Experiments

Keywords

  • METIS-305922
  • EWI-24866

Cite this

Mersha, A. Y., Stramigioli, S., & Carloni, R. (2014). Exploiting the dynamics of a robotic manipulator for control of UAVs. In Proceedings of the International Conference on Robotics and Automation 2014 (pp. 1741-1746). USA: IEEE ROBOTICS AND AUTOMATION SOCIETY. https://doi.org/10.1109/ICRA.2014.6907086
Mersha, A.Y. ; Stramigioli, Stefano ; Carloni, Raffaella. / Exploiting the dynamics of a robotic manipulator for control of UAVs. Proceedings of the International Conference on Robotics and Automation 2014. USA : IEEE ROBOTICS AND AUTOMATION SOCIETY, 2014. pp. 1741-1746
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Mersha, AY, Stramigioli, S & Carloni, R 2014, Exploiting the dynamics of a robotic manipulator for control of UAVs. in Proceedings of the International Conference on Robotics and Automation 2014. IEEE ROBOTICS AND AUTOMATION SOCIETY, USA, pp. 1741-1746, 2014 IEEE International Conference on Robotics and Automation, ICRA 2014, Hong Kong, China, 31/05/14. https://doi.org/10.1109/ICRA.2014.6907086

Exploiting the dynamics of a robotic manipulator for control of UAVs. / Mersha, A.Y.; Stramigioli, Stefano; Carloni, Raffaella.

Proceedings of the International Conference on Robotics and Automation 2014. USA : IEEE ROBOTICS AND AUTOMATION SOCIETY, 2014. p. 1741-1746.

Research output: Chapter in Book/Report/Conference proceedingConference contributionAcademicpeer-review

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Mersha AY, Stramigioli S, Carloni R. Exploiting the dynamics of a robotic manipulator for control of UAVs. In Proceedings of the International Conference on Robotics and Automation 2014. USA: IEEE ROBOTICS AND AUTOMATION SOCIETY. 2014. p. 1741-1746 https://doi.org/10.1109/ICRA.2014.6907086