Exploiting the dynamics of a robotic manipulator for control of UAVs

A.Y. Mersha, Stefano Stramigioli, Raffaella Carloni

    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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    author = "A.Y. Mersha and Stefano Stramigioli and Raffaella Carloni",
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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