English
 
User Manual Privacy Policy Disclaimer Contact us
  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

Basic

show hide
Item Permalink: http://hdl.handle.net/21.11116/0000-0000-C3D3-5 Version Permalink: http://hdl.handle.net/21.11116/0000-0001-F468-7
Genre: Report

Files

show Files

Locators

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

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: Published in print
 Pages: -
 Publishing info: Toulouse, France : Laboratoire d'analyse et d'architecture des systèmes
 Table of Contents: -
 Rev. Method: -
 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: -