Developing an Aerial Manipulator Prototype Physical Interaction with the Environment

Matteo Fumagalli*, Roberto Naldi, Alessandro Macchelli, Francesco Forte, Arvid Q.L. Keemink, Stefano Stramigioli, Raffaella Carloni, Lorenzo Marconi

*Bijbehorende auteur voor dit werk

OnderzoeksoutputAcademicpeer review

106 Citaten (Scopus)

Samenvatting

This article focuses on the design, modeling, and control of an aerial manipulator prototype, i.e., an innovative configuration consisting of a miniature quadrotor helicopter endowed with a robotic manipulator. The overall system is designed to accomplish operations that require physical interaction with the surrounding environment while remaining airborne. To investigate the dynamical model of the aerial manipulator, a simple planar benchmark is used to analyze the interactions between the quadrotor, the robotic manipulator, and the environment. A control strategy for the planar system is designed to guarantee robustness in the presence or absence of contacts. Experiments on a real setup validate the control in the two different scenarios in which the aerial manipulator is either freely flying or physically interacting with the environment.

Originele taal-2English
Artikelnummer6875943
Pagina's (van-tot)41-50
Aantal pagina's10
TijdschriftIEEE Robotics and Automation Magazine
Volume21
Nummer van het tijdschrift3
DOI's
StatusPublished - sep-2014
Extern gepubliceerdJa

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