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Closed-Loop Behavior of an Autonomous Helicopter Equipped with a Robotic Arm for Aerial Manipulation Tasks

Opened Access Closed-Loop Behavior of an Autonomous Helicopter Equipped with a Robotic Arm for Aerial Manipulation Tasks

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Autor: Kondak, Konstantin
Maza Alcañiz, Jesús Iván
Rodríguez Castaño, Ángel
Ollero Baturone, Aníbal
Albu Schaeffer, Alin
Departamento: Universidad de Sevilla. Departamento de Ingeniería de Sistemas y Automática
Fecha: 2013
Tipo de documento: Artículo
Resumen: This paper is devoted to the control of aerial robots interacting physically with objects in the environment and with other aerial robots. The paper presents a controller for the particular case of a small‐scaled autonomous helicopter equipped with a robotic arm for aerial manipulation. Two types of influences are imposed on the helicopter from a manipulator: coherent and non ‐ coherent influence. In the former case, the forces and torques imposed on the helicopter by the manipulator change with frequencies close to those of the helicopter movement. The paper shows that even small interaction forces imposed on the fuselage periodically in proper phase could yield to low frequency instabilities and oscillations, so called phase circles
Cita: Kondak, K., Maza Alcañiz, J.I., Rodríguez Castaño, Á., Ollero Baturbone, A. y Albu Schaeffer, A. (2013). Closed-Loop Behavior of an Autonomous Helicopter Equipped with a Robotic Arm for Aerial Manipulation Tasks.
Tamaño: 1.337Mb
Formato: PDF

URI: http://hdl.handle.net/11441/23069

DOI: 10.5772/53754

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