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キーワード:
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要旨:
This document is a technical attachment to ”Dynamic Decentralized Control for Protocentric Aerial Manipulators” for explicit computations of the nominal states and the inputs of a Pro- tocentric Aerial Manipulator (PAM) in 2D, using differential flatness property. In ”Dynamic Decentralized Control for Protocentric Aerial Manipulators” these values are used to control a PAM in 3D. Furthermore, considering the aerial manipulator design used for the experiments in that paper, here we inves- tigate the case when the system is non-protocentric; i.e., the manipulating arm is not exactly attached to the CoM of the flying robot, P0 . We show the effect of the distance between this attachment point and P0 on the performance tracking a composite trajectory. Finally some additional plots related to the experimental results are provided.
