Interaction control of an UAV endowed with a manipulator

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

doi:10.1109/ICRA.2013.6631278

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 proceeding › Conference contribution › Academic › peer-review

73 Citations (Scopus)

2 Downloads (Pure)

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 language	Undefined
Title of host publication	Proceedings of the International Conference on Robotics and Automation
Place of Publication	USA
Publisher	IEEE
Pages	4910-4915
Number of pages	6
ISBN (Print)	978-1-4673-5642-8
DOIs	https://doi.org/10.1109/ICRA.2013.6631278
Publication status	Published - May 2013
Event	2013 IEEE International Conference on Robotics and Automation, ICRA 2013 - Karlsruhe, Germany Duration: 6 May 2013 → 10 May 2013

Publication series

Name
Publisher	IEEE Robotics and Automation Society

Conference

Conference	2013 IEEE International Conference on Robotics and Automation, ICRA 2013
Abbreviated title	ICRA
Country/Territory	Germany
City	Karlsruhe
Period	6/05/13 → 10/05/13

Keywords

EWI-23575
METIS-297773
IR-86982

Access to Document

10.1109/ICRA.2013.6631278

http://eprints.eemcs.utwente.nl/secure2/23575/01/1325.pdf

Cite this

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title = "Interaction control of an UAV endowed with a manipulator",

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.",

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author = "Scholten, {Jasper L.J} and Matteo Fumagalli and Stefano Stramigioli and Raffaella Carloni",

year = "2013",

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AU - Scholten, Jasper L.J

AU - Fumagalli, Matteo

AU - Stramigioli, Stefano

AU - Carloni, Raffaella

PY - 2013/5

Y1 - 2013/5

N2 - 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.

AB - 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.

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DO - 10.1109/ICRA.2013.6631278

M3 - Conference contribution

SN - 978-1-4673-5642-8

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BT - Proceedings of the International Conference on Robotics and Automation

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Y2 - 6 May 2013 through 10 May 2013

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