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Enabling Robot Assisted Landing of Heavy UAV Rotorcraft via Combined Control and Workload Sharing

Maier, Moritz and Kondak, Konstantin and 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, 24–28 Sept 2017, Vancouver, Canada.

Full text not available from this repository.

Abstract

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.

Item URL in elib:https://elib.dlr.de/113138/
Document Type:Conference or Workshop Item (Speech)
Title:Enabling Robot Assisted Landing of Heavy UAV Rotorcraft via Combined Control and Workload Sharing
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Maier, MoritzMoritz.Maier (at) dlr.dehttps://orcid.org/0000-0002-3447-7611
Kondak, Konstantinkonstantin.kondak (at) dlr.deUNSPECIFIED
Ott, ChristianChristian.Ott (at) dlr.dehttps://orcid.org/0000-0003-0987-7493
Date:September 2017
Journal or Publication Title:IEEE International Conference on Intelligent Robots and Systems
Refereed publication:Yes
Open Access:No
Gold Open Access:No
In SCOPUS:Yes
In ISI Web of Science:No
Editors:
EditorsEmail
Maciejewski, Anthony A.aam@colostate.edu
Publisher:IEEE/RSJ
Status:Published
Keywords:Aerial robotics, Control theory, Rigid-body dynamics, Robotics, Robotics applications
Event Title:IEEE/RSJ International Conference on Intelligent Robots and Systems
Event Location:Vancouver, Canada
Event Type:international Conference
Event Dates:24–28 Sept 2017
Organizer:IEEE/RSJ
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Technik für Raumfahrtsysteme
DLR - Research theme (Project):R - Vorhaben Terrestrische Assistenz-Robotik
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Analysis and Control of Advanced Robotic Systems
Deposited By: Maier, Moritz
Deposited On:17 Jul 2017 17:23
Last Modified:11 Feb 2018 11:35

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