Article
Closed-Loop Behavior of an Autonomous Helicopter Equipped with a Robotic Arm for Aerial Manipulation Tasks
Author/s | Kondak, Konstantin
Maza Alcañiz, Iván Rodríguez Castaño, Ángel Ollero Baturone, Aníbal Albu Schaeffer, Alin |
Department | Universidad de Sevilla. Departamento de Ingeniería de Sistemas y Automática |
Publication Date | 2013 |
Deposit Date | 2015-02-27 |
Abstract | 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 ... 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 |
Citation | 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. |
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