Mechatronic design of a robotic manipulator for unmanned aerial vehicles

Matteo Fumagalli, Stefano Stramigioli, Raffaella Carloni

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

    13 Citations (Scopus)

    Abstract

    The paper focuses on the mechatronic design of a robotic manipulator that is meant to be mounted on an Unmanned Aerial Vehicle (UAV) and to be used in industrial applications, for both aerial inspection by contact and aerial manipulation. The combination of an UAV and the robotic manipulator realizes the aerial manipulator. The robotic manipulator is designed to be versatile so that the aerial manipulator can perform both trajectory tracking in free flight and physical interaction. Moreover, the robotic manipulator can be mounted on commercially available UAVs a modular way without interfering with the existing onboard control architecture. Experimental test are validating the overall mechatronic design.
    Original languageUndefined
    Title of host publicationProceedings of the IEEE International Conference on Intelligent Robots and Systems
    Place of PublicationUSA
    PublisherIEEE ROBOTICS AND AUTOMATION SOCIETY
    Pages4843-4848
    Number of pages6
    DOIs
    Publication statusPublished - Oct 2016
    Event2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2016 - Daejeon Convention Center, Daejeon, Korea, Republic of
    Duration: 9 Oct 201614 Oct 2016
    http://www.iros2016.org/

    Publication series

    Name
    PublisherIEEE Robotics and Automation Society
    ISSN (Print)2153-0866
    ISSN (Electronic)2153-0866

    Conference

    Conference2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2016
    Abbreviated titleIROS
    CountryKorea, Republic of
    CityDaejeon
    Period9/10/1614/10/16
    Internet address

    Keywords

    • EWI-27578
    • EC Grant Agreement nr.: FP7/644128
    • IR-103142
    • METIS-320938
    • EC Grant Agreement nr.: FP7/248669

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