Kim, MinJun und Balachandran, Ribin und De Stefano, Marco und Kondak, Konstantin und Ott, Christian (2018) Passive compliance control of aerial manipulators. In: 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2018. 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2018-10-01 - 2018-10-05, Madrid, Spain. doi: 10.1109/iros.2018.8593718. ISBN 978-153868094-0. ISSN 2153-0858.
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Kurzfassung
This paper presents a passive compliance control for aerial manipulators to achieve stable environmental interactions. The main challenge is the absence of actuation along body-planar directions of the aerial vehicle which might be required during the interaction to preserve passivity. The controller proposed in this paper guarantees passivity of the manipulator through a proper choice of end-effector coordinates, and that of vehicle fuselage is guaranteed by exploiting time domain passivity technique. Simulation studies validate the proposed approach.
elib-URL des Eintrags: | https://elib.dlr.de/124921/ | ||||||||||||||||||||||||
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Dokumentart: | Konferenzbeitrag (Vortrag, Poster) | ||||||||||||||||||||||||
Titel: | Passive compliance control of aerial manipulators | ||||||||||||||||||||||||
Autoren: |
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Datum: | 2018 | ||||||||||||||||||||||||
Erschienen in: | 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2018 | ||||||||||||||||||||||||
Referierte Publikation: | Ja | ||||||||||||||||||||||||
Open Access: | Ja | ||||||||||||||||||||||||
Gold Open Access: | Nein | ||||||||||||||||||||||||
In SCOPUS: | Ja | ||||||||||||||||||||||||
In ISI Web of Science: | Ja | ||||||||||||||||||||||||
DOI: | 10.1109/iros.2018.8593718 | ||||||||||||||||||||||||
ISSN: | 2153-0858 | ||||||||||||||||||||||||
ISBN: | 978-153868094-0 | ||||||||||||||||||||||||
Status: | veröffentlicht | ||||||||||||||||||||||||
Stichwörter: | Aerial manipulation, passive compliance control, unmanned aerial vehicle | ||||||||||||||||||||||||
Veranstaltungstitel: | 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems | ||||||||||||||||||||||||
Veranstaltungsort: | Madrid, Spain | ||||||||||||||||||||||||
Veranstaltungsart: | internationale Konferenz | ||||||||||||||||||||||||
Veranstaltungsbeginn: | 1 Oktober 2018 | ||||||||||||||||||||||||
Veranstaltungsende: | 5 Oktober 2018 | ||||||||||||||||||||||||
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): | Vorhaben Intelligente Mobilität (alt) | ||||||||||||||||||||||||
Standort: | Oberpfaffenhofen | ||||||||||||||||||||||||
Institute & Einrichtungen: | Institut für Robotik und Mechatronik (ab 2013) > Analyse und Regelung komplexer Robotersysteme | ||||||||||||||||||||||||
Hinterlegt von: | Kim, MinJun | ||||||||||||||||||||||||
Hinterlegt am: | 14 Dez 2018 00:18 | ||||||||||||||||||||||||
Letzte Änderung: | 24 Apr 2024 20:28 |
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