Maier, Moritz und Kondak, Konstantin und Ott, Christian (2017) Enabling Robot Assisted Landing of Heavy UAV Rotorcraft via Combined Control and Workload Sharing. In: IEEE International Conference on Intelligent Robots and Systems. IEEE/RSJ. IEEE/RSJ International Conference on Intelligent Robots and Systems, 2017-09-24 - 2017-09-28, Vancouver, Canada. doi: 10.1109/iros.2017.8206399.
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Kurzfassung
In this paper, a tracking control approach for robot assisted landing of UAV rotorcraft, such as multicopters and helicopters, is presented. The aim is to safely land these type of flying vehicles under side wind conditions and on moving surfaces using a robot manipulator arm mounted on the ground. In our previous work, we have considered light UAVs compared to the robot's payload capabilities. In this work, we present a method that enables to realize robot assisted landing for arbitrary combinations of aerial vehicles and robot arms. We show that the combined system is overactuated, which allows to distribute the workload and enables to assist heavy rotorcraft, whose weight would otherwise exceed the nominal payload of the robot arm. The performance of the controller is evaluated in numerical simulations as well as in experiments using a custom-built hexacopter and a KUKA/DLR light-weight robot.
elib-URL des Eintrags: | https://elib.dlr.de/113138/ | ||||||||||||||||
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Dokumentart: | Konferenzbeitrag (Vortrag) | ||||||||||||||||
Titel: | Enabling Robot Assisted Landing of Heavy UAV Rotorcraft via Combined Control and Workload Sharing | ||||||||||||||||
Autoren: |
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Datum: | September 2017 | ||||||||||||||||
Erschienen in: | IEEE International Conference on Intelligent Robots and Systems | ||||||||||||||||
Referierte Publikation: | Ja | ||||||||||||||||
Open Access: | Nein | ||||||||||||||||
Gold Open Access: | Nein | ||||||||||||||||
In SCOPUS: | Ja | ||||||||||||||||
In ISI Web of Science: | Nein | ||||||||||||||||
DOI: | 10.1109/iros.2017.8206399 | ||||||||||||||||
Herausgeber: |
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Verlag: | IEEE/RSJ | ||||||||||||||||
Status: | veröffentlicht | ||||||||||||||||
Stichwörter: | Aerial robotics, Control theory, Rigid-body dynamics, Robotics, Robotics applications | ||||||||||||||||
Veranstaltungstitel: | IEEE/RSJ International Conference on Intelligent Robots and Systems | ||||||||||||||||
Veranstaltungsort: | Vancouver, Canada | ||||||||||||||||
Veranstaltungsart: | internationale Konferenz | ||||||||||||||||
Veranstaltungsbeginn: | 24 September 2017 | ||||||||||||||||
Veranstaltungsende: | 28 September 2017 | ||||||||||||||||
Veranstalter : | IEEE/RSJ | ||||||||||||||||
HGF - Forschungsbereich: | Luftfahrt, Raumfahrt und Verkehr | ||||||||||||||||
HGF - Programm: | Raumfahrt | ||||||||||||||||
HGF - Programmthema: | Technik für Raumfahrtsysteme | ||||||||||||||||
DLR - Schwerpunkt: | Raumfahrt | ||||||||||||||||
DLR - Forschungsgebiet: | R SY - Technik für Raumfahrtsysteme | ||||||||||||||||
DLR - Teilgebiet (Projekt, Vorhaben): | R - Terrestrische Assistenz-Robotik (alt) | ||||||||||||||||
Standort: | Oberpfaffenhofen | ||||||||||||||||
Institute & Einrichtungen: | Institut für Robotik und Mechatronik (ab 2013) > Analyse und Regelung komplexer Robotersysteme | ||||||||||||||||
Hinterlegt von: | Maier, Moritz | ||||||||||||||||
Hinterlegt am: | 17 Jul 2017 17:23 | ||||||||||||||||
Letzte Änderung: | 24 Apr 2024 20:17 |
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