English
 
Help Privacy Policy Disclaimer
  Advanced SearchBrowse

Item

ITEM ACTIONSEXPORT
  Explicit Computations, Simulations and additional Results for the Dynamic Decentralized Control for Protocentric Aerial Manipulators Technical Attachment to: ”Dynamic Decentralized Control for Protocentric Aerial Manipulators” 2017 IEEE International Conference on Robotics and Automation (ICRA), Singapore, May 2017

Tognon, M., Yüksel, B., Buondonno, G., & Franchi, A.(2017). Explicit Computations, Simulations and additional Results for the Dynamic Decentralized Control for Protocentric Aerial Manipulators Technical Attachment to: ”Dynamic Decentralized Control for Protocentric Aerial Manipulators” 2017 IEEE International Conference on Robotics and Automation (ICRA), Singapore, May 2017. Toulouse, France: Laboratoire d'analyse et d'architecture des systèmes.

Item is

Files

show Files

Locators

show
hide
Locator:
Link (Any fulltext)
Description:
-
OA-Status:

Creators

show
hide
 Creators:
Tognon, M, Author
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              

Content

show
hide
Free keywords: -
 Abstract: 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.

Details

show
hide
Language(s):
 Dates: 2017-03
 Publication Status: Issued
 Pages: -
 Publishing info: Toulouse, France : Laboratoire d'analyse et d'architecture des systèmes
 Table of Contents: -
 Rev. Type: -
 Identifiers: BibTex Citekey: TognonYBF2017_2
 Degree: -

Event

show

Legal Case

show

Project information

show

Source 1

show
hide
Title: Rapport LAAS-CNRS
Source Genre: Series
 Creator(s):
Affiliations:
Publ. Info: -
Pages: - Volume / Issue: 17048 Sequence Number: - Start / End Page: - Identifier: -