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  Differential flatness and control of protocentric aerial manipulators with any number of arms and mixed rigid-/elastic-joints

Yüksel, B., Buondonno, G., & Franchi, A. (2016). Differential flatness and control of protocentric aerial manipulators with any number of arms and mixed rigid-/elastic-joints. In IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2016) (pp. 561-566). Piscataway, NJ, USA: IEEE.

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Item Permalink: http://hdl.handle.net/21.11116/0000-0000-7A66-5 Version Permalink: http://hdl.handle.net/21.11116/0000-0000-7A67-4
Genre: Conference Paper

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Yüksel, B1, 2, 3, Author              
Buondonno, G, Author
Franchi, A3, Author              
Affiliations:
1Project group: Autonomous Robotics & Human-Machine Systems, Max Planck Institute for Biological Cybernetics, Max Planck Society, ou_2528704              
2Max Planck Institute for Biological Cybernetics, Max Planck Society, ou_1497794              
3Department Human Perception, Cognition and Action, Max Planck Institute for Biological Cybernetics, Max Planck Society, ou_1497797              

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 Abstract: In this paper we introduce a particularly relevant class of aerial manipulators that we name protocentric. These robots are formed by an underactuated aerial vehicle, a planar-Vertical Take-Off and Landing (PVTOL), equipped with any number of different parallel manipulator arms with the only property that all the first joints are attached at the Center of Mass (CoM) of the PVTOL, while the center of actuation of the PVTOL can be anywhere. We prove that protocentric aerial manipulators (PAMs) are differentially flat systems regardless the number of joints of each arm and their kinematic and dynamic parameters. The set of flat outputs is constituted by the CoM of the PVTOL and the absolute orientation angles of all the links. The relative degree of each output is equal to four. More amazingly, we prove that PAMs are differentially flat even in the case that any number of the joints are elastic, no matter the internal distribution between elastic and rigid joints. The set of flat outputs is the same but in this case the total relative degree grows quadratically with the number of elastic joints. We validate the theory by simulating object grasping and transportation tasks with unknown mass and parameters and using a controller based on dynamic feedback linearization.

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 Dates: 2016-10
 Publication Status: Published in print
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 Identifiers: DOI: 10.1109/IROS.2016.7759109
BibTex Citekey: YukselBF2016
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Title: IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2016)
Place of Event: Daejeon, Korea
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Title: IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2016)
Source Genre: Proceedings
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Publ. Info: Piscataway, NJ, USA : IEEE
Pages: - Volume / Issue: - Sequence Number: - Start / End Page: 561 - 566 Identifier: ISBN: 978-1-5090-3762-9