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

被引:75
作者
Kondak, Konstantin [1 ]
Krieger, Kai [1 ]
Albu-Schaeffer, Alin [1 ]
Schwarzbach, Marc [1 ]
Laiacker, Maximilian [1 ]
Maza, Ivan [2 ]
Rodriguez-Castano, Angel [2 ]
Ollero, Anibal [2 ]
机构
[1] DLR German Aerosp Ctr, Inst Robot & Mechatron, Oberpfaffenhofen, Germany
[2] Univ Seville, Robot Vis & Control Grp, Seville, Spain
关键词
Aerial Manipulation; Aerial Robots; SPACE MANIPULATORS; KINEMATICS; DYNAMICS;
D O I
10.5772/53754
中图分类号
TP24 [机器人技术];
学科分类号
140102 [集成电路设计与设计自动化];
摘要
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.
引用
收藏
页数:9
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