Mechatronic design of a robotic manipulator for unmanned aerial vehicles

Matteo Fumagalli; Stefano Stramigioli; Raffaella Carloni

doi:10.1109/IROS.2016.7759711

Mechatronic design of a robotic manipulator for unmanned aerial vehicles

Matteo Fumagalli, Stefano Stramigioli, Raffaella Carloni

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › Academic › peer-review

26 Citations (Scopus)

32 Downloads (Pure)

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 language	Undefined
Title of host publication	Proceedings of the IEEE International Conference on Intelligent Robots and Systems
Place of Publication	USA
Publisher	IEEE
Pages	4843-4848
Number of pages	6
DOIs	https://doi.org/10.1109/IROS.2016.7759711
Publication status	Published - Oct 2016
Event	2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2016 - Daejeon Convention Center, Daejeon, Korea, Republic of Duration: 9 Oct 2016 → 14 Oct 2016 http://www.iros2016.org/

Publication series

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

Conference

Conference	2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2016
Abbreviated title	IROS
Country/Territory	Korea, Republic of
City	Daejeon
Period	9/10/16 → 14/10/16
Internet address	http://www.iros2016.org/

Keywords

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

UN SDGs

This output contributes to the following UN Sustainable Development Goals (SDGs)

Access to Document

10.1109/IROS.2016.7759711

Cite this

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title = "Mechatronic design of a robotic manipulator for unmanned aerial vehicles",

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.",

keywords = "EWI-27578, EC Grant Agreement nr.: FP7/644128, IR-103142, METIS-320938, EC Grant Agreement nr.: FP7/248669",

author = "Matteo Fumagalli and Stefano Stramigioli and Raffaella Carloni",

note = "eemcs-eprint-27578 ; 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2016 ; Conference date: 09-10-2016 Through 14-10-2016",

year = "2016",

month = oct,

doi = "10.1109/IROS.2016.7759711",

language = "Undefined",

publisher = "IEEE",

pages = "4843--4848",

booktitle = "Proceedings of the IEEE International Conference on Intelligent Robots and Systems",

address = "United States",

url = "http://www.iros2016.org/",

}

Fumagalli, M, Stramigioli, S & Carloni, R 2016, Mechatronic design of a robotic manipulator for unmanned aerial vehicles. in Proceedings of the IEEE International Conference on Intelligent Robots and Systems. IEEE, USA, pp. 4843-4848, 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2016, Daejeon, Korea, Republic of, 9/10/16. https://doi.org/10.1109/IROS.2016.7759711

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AU - Stramigioli, Stefano

AU - Carloni, Raffaella

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PY - 2016/10

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N2 - 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.

AB - 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.

KW - EWI-27578

KW - EC Grant Agreement nr.: FP7/644128

KW - IR-103142

KW - METIS-320938

KW - EC Grant Agreement nr.: FP7/248669

U2 - 10.1109/IROS.2016.7759711

DO - 10.1109/IROS.2016.7759711

M3 - Conference contribution

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BT - Proceedings of the IEEE International Conference on Intelligent Robots and Systems

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