Interaction control of an UAV endowed with a manipulator

Jasper L.J Scholten, Matteo Fumagalli, Stefano Stramigioli, Raffaella Carloni

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

    52 Citations (Scopus)

    Abstract

    In this paper, we present the design, simulation and experimental validation of a control architecture for an unmanned aerial vehicle endowed with a manipulation system and interacting with a remote environment. The goal of this work is to show that the interaction control allows the ma- nipulator to track a desired force, normal to a vertical wall, while still maintaining the possibility of moving on the wall. The control strategy has been implemented and validated in simulations and experiments on the manipulator standalone, i.e., attached to a fixed base, and on the manipulator attached to the aerial vehicle.
    Original languageUndefined
    Title of host publicationProceedings of the International Conference on Robotics and Automation
    Place of PublicationUSA
    PublisherIEEE ROBOTICS AND AUTOMATION SOCIETY
    Pages4910-4915
    Number of pages6
    ISBN (Print)978-1-4673-5642-8
    DOIs
    Publication statusPublished - May 2013
    Event2013 IEEE International Conference on Robotics and Automation, ICRA 2013 - Karlsruhe, Germany
    Duration: 6 May 201310 May 2013

    Publication series

    Name
    PublisherIEEE Robotics and Automation Society

    Conference

    Conference2013 IEEE International Conference on Robotics and Automation, ICRA 2013
    Abbreviated titleICRA
    CountryGermany
    CityKarlsruhe
    Period6/05/1310/05/13

    Keywords

    • EWI-23575
    • METIS-297773
    • IR-86982

    Cite this

    Scholten, J. L. J., Fumagalli, M., Stramigioli, S., & Carloni, R. (2013). Interaction control of an UAV endowed with a manipulator. In Proceedings of the International Conference on Robotics and Automation (pp. 4910-4915). USA: IEEE ROBOTICS AND AUTOMATION SOCIETY. https://doi.org/10.1109/ICRA.2013.6631278