Closed-Loop Behavior of an Autonomous Helicopter Equipped with a Robotic Arm for Aerial Manipulation Tasks
| Autor: | Marc Schwarzbach, Anibal Ollero, Maximilian Laiacker, Kai Krieger, Angel Rodriguez-Castaño, Alin Albu-Schaeffer, Ivan Maza, Konstantin Kondak |
|---|---|
| Jazyk: | angličtina |
| Rok vydání: | 2013 |
| Předmět: |
0209 industrial biotechnology
Oscillation Computer science 020208 electrical & electronic engineering lcsh:Electronics lcsh:TK7800-8360 02 engineering and technology lcsh:QA75.5-76.95 Computer Science Applications Computer Science::Robotics 020901 industrial engineering & automation Fuselage Artificial Intelligence Control theory Computer Science::Systems and Control 0202 electrical engineering electronic engineering information engineering Torque Robot lcsh:Electronic computers. Computer science Manipulator Closed loop Robotic arm Software Simulation |
| Zdroj: | International Journal of Advanced Robotic Systems International Journal of Advanced Robotic Systems, Vol 10 (2013) |
| ISSN: | 1729-8806 |
| Popis: | 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. |
| Databáze: | OpenAIRE |
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