Modeling and Design of Multirotors with Multi-joint Arms

Autor:	R. Cano, Guillermo Heredia, A. E. Jimenez-Cano, Anibal Ollero
Rok vydání:	2019
Předmět:	Part iii Multi joint Computer science Control theory Robot Control engineering Modeling and design Kinematics Robotic arm
Zdroj:	Springer Tracts in Advanced Robotics ISBN: 9783030129446 Aerial Robotic Manipulation
DOI:	10.1007/978-3-030-12945-3_2
Popis:	This chapter presents the dynamic model of multirotors with multiple arms, which will be used for controller development in Part III and planning in Part V. It first presents the modeling of multirotors and arms individually, and them the coupled kinematic and dynamic model of the aerial robot with multiple arms. The chapter also presents the methodology for designing a light robotic arm for aerial manipulation.
Databáze:	OpenAIRE
Externí odkaz:	https://explore.openaire.eu/search/publication?articleId=doi_________::3fce8792610e70c995ee103dc3aec838 https://doi.org/10.1007/978-3-030-12945-3_2 Zobrazit plný text záznamu