In this Chapter, the problem of control of Aerial RObotic MAnipulators (AROMAs) involved in operations requiring the contact with the environment is tackled. Two different approaches are presented: a Cartesian admittance scheme and a decoupled impedance in which selective behaviors for the aerial vehicle and the manipulator are enforced. Finally, some experimental results, collected within the ARCAS project and regarding the Cartesian admittance, are reported and discussed.
Decoupled Impedance and Passivity Control Methods
Pierri F.
2019-01-01
Abstract
In this Chapter, the problem of control of Aerial RObotic MAnipulators (AROMAs) involved in operations requiring the contact with the environment is tackled. Two different approaches are presented: a Cartesian admittance scheme and a decoupled impedance in which selective behaviors for the aerial vehicle and the manipulator are enforced. Finally, some experimental results, collected within the ARCAS project and regarding the Cartesian admittance, are reported and discussed.File in questo prodotto:
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