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  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.

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Tognon, M, Author
Yüksel, B1, 2, 3, Author              
Buondonno, G, Author
Franchi, A3, Author              
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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: 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.

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 Dates: 2017-03
 Publication Status: Published in print
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 Publishing info: Toulouse, France : Laboratoire d'analyse et d'architecture des systèmes
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 Identifiers: BibTex Citekey: TognonYBF2017_2
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Title: Rapport LAAS-CNRS
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