Developing an Aerial Manipulator Prototype Physical Interaction with the Environment

被引：121

作者：

Fumagalli, Matteo ^{[1
]}

Naldi, Roberto ^{[2
]}

Macchelli, Alessandro ^{[2
]}

Forte, Francesco ^{[2
]}

Keemink, Arvid Q. L. ^{[1
]}

Stramigioli, Stefano ^{[1
]}

Carloni, Raffaella ^{[1
]}

Marconi, Lorenzo ^{[2
]}

机构：

[1] Univ Twente, Fac Elect Engn Math & Comp Sci, NL-7500 AE Enschede, Netherlands

[2] Univ Bologna, Fac Engn, I-40126 Bologna, Italy

来源：

IEEE ROBOTICS & AUTOMATION MAGAZINE | 2014年 / 21卷 / 03期

关键词：

D O I：

10.1109/MRA.2013.2287454

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This article focuses on the design, modeling, and control of an aerial manipulator prototype, i.e., an innovative configuration consisting of a miniature quadrotor helicopter endowed with a robotic manipulator. The overall system is designed to accomplish operations that require physical interaction with the surrounding environment while remaining airborne. To investigate the dynamical model of the aerial manipulator, a simple planar benchmark is used to analyze the interactions between the quadrotor, the robotic manipulator, and the environment. A control strategy for the planar system is designed to guarantee robustness in the presence or absence of contacts. Experiments on a real setup validate the control in the two different scenarios in which the aerial manipulator is either freely flying or physically interacting with the environment. © 2014 IEEE.

引用

页码：41 / 50

页数：10

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