Exploiting the dynamics of a robotic manipulator for control of UAVs

A.Y. Mersha; Stefano Stramigioli; Raffaella Carloni

doi:10.1109/ICRA.2014.6907086

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 proceeding › Conference contribution › Academic › peer-review

23 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 language	English
Title of host publication	Proceedings of the International Conference on Robotics and Automation 2014
Place of Publication	USA
Publisher	IEEE
Pages	1741-1746
Number of pages	6
ISBN (Print)	978-1-4799-3684-7
DOIs	https://doi.org/10.1109/ICRA.2014.6907086
Publication status	Published - Jun 2014
Event	2014 IEEE International Conference on Robotics and Automation, ICRA 2014 - Hong Kong, China Duration: 31 May 2014 → 7 Jun 2014

Conference

Conference	2014 IEEE International Conference on Robotics and Automation, ICRA 2014
Abbreviated title	ICRA
Country/Territory	China
City	Hong Kong
Period	31/05/14 → 7/06/14

Keywords

METIS-305922
EWI-24866

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10.1109/ICRA.2014.6907086

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title = "Exploiting the dynamics of a robotic manipulator for control of UAVs",

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.",

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AU - Mersha, A.Y.

AU - Stramigioli, Stefano

AU - Carloni, Raffaella

PY - 2014/6

Y1 - 2014/6

N2 - 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.

AB - 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.

KW - METIS-305922

KW - EWI-24866

U2 - 10.1109/ICRA.2014.6907086

DO - 10.1109/ICRA.2014.6907086

M3 - Conference contribution

SN - 978-1-4799-3684-7

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BT - Proceedings of the International Conference on Robotics and Automation 2014

PB - IEEE

CY - USA

T2 - 2014 IEEE International Conference on Robotics and Automation, ICRA 2014

Y2 - 31 May 2014 through 7 June 2014

ER -

Exploiting the dynamics of a robotic manipulator for control of UAVs

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