TY - JOUR
T1 - Exploiting the dynamics of a robotic manipulator for control of UAVs
AU - Mersha, Abeje Y.
AU - Stramigioli, Stefano
AU - Carloni, Raffaella
PY - 2014/9/22
Y1 - 2014/9/22
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.
UR - http://www.scopus.com/inward/record.url?scp=84929223680&partnerID=8YFLogxK
U2 - 10.1109/ICRA.2014.6907086
DO - 10.1109/ICRA.2014.6907086
M3 - Article
AN - SCOPUS:84929223680
SN - 1050-4729
SP - 1741
EP - 1746
JO - Proceedings - IEEE International Conference on Robotics and Automation
JF - Proceedings - IEEE International Conference on Robotics and Automation
M1 - 6907086
ER -