This paper proposes a compliant control scheme for a quadrotor helicopter equipped with an n-DOFs manipulator. The proposed control scheme is characterized by three layers: the first layer includes a motion planner, which, on the basis of desired trajectory for the end-effector, determines the desired motion for the actuated variables (joint positions, quadrotor position and yaw angle). The second layer, thanks to an impedance filter, provides a selective compliant behavior to the system, in the presence of interaction of the manipulator end-effector with the environment. Finally, the third layer implements a motion controller aimed at tracking the references output by the previous layer. The effectiveness of the proposed approach is tested in simulation.

Selective compliance control for an Unmanned Aerial Vehicle with a robotic arm

GIGLIO, GERARDO;PIERRI, FRANCESCO
2014-01-01

Abstract

This paper proposes a compliant control scheme for a quadrotor helicopter equipped with an n-DOFs manipulator. The proposed control scheme is characterized by three layers: the first layer includes a motion planner, which, on the basis of desired trajectory for the end-effector, determines the desired motion for the actuated variables (joint positions, quadrotor position and yaw angle). The second layer, thanks to an impedance filter, provides a selective compliant behavior to the system, in the presence of interaction of the manipulator end-effector with the environment. Finally, the third layer implements a motion controller aimed at tracking the references output by the previous layer. The effectiveness of the proposed approach is tested in simulation.
2014
9781479958993
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Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11563/83094
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