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Kim, MinJun and Balachandran, Ribin and De Stefano, Marco and Kondak, Konstantin and 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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Abstract
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.
| Item URL in elib: | https://elib.dlr.de/124921/ | ||||||||||||||||||||||||
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| Document Type: | Conference or Workshop Item (Speech, Poster) | ||||||||||||||||||||||||
| Title: | Passive compliance control of aerial manipulators | ||||||||||||||||||||||||
| Authors: |
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| Date: | 2018 | ||||||||||||||||||||||||
| Journal or Publication Title: | 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2018 | ||||||||||||||||||||||||
| Refereed publication: | Yes | ||||||||||||||||||||||||
| Open Access: | Yes | ||||||||||||||||||||||||
| Gold Open Access: | No | ||||||||||||||||||||||||
| In SCOPUS: | Yes | ||||||||||||||||||||||||
| In ISI Web of Science: | Yes | ||||||||||||||||||||||||
| DOI: | 10.1109/iros.2018.8593718 | ||||||||||||||||||||||||
| ISSN: | 2153-0858 | ||||||||||||||||||||||||
| ISBN: | 978-153868094-0 | ||||||||||||||||||||||||
| Status: | Published | ||||||||||||||||||||||||
| Keywords: | Aerial manipulation, passive compliance control, unmanned aerial vehicle | ||||||||||||||||||||||||
| Event Title: | 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems | ||||||||||||||||||||||||
| Event Location: | Madrid, Spain | ||||||||||||||||||||||||
| Event Type: | international Conference | ||||||||||||||||||||||||
| Event Start Date: | 1 October 2018 | ||||||||||||||||||||||||
| Event End Date: | 5 October 2018 | ||||||||||||||||||||||||
| HGF - Research field: | Aeronautics, Space and Transport | ||||||||||||||||||||||||
| HGF - Program: | Space | ||||||||||||||||||||||||
| HGF - Program Themes: | Space System Technology | ||||||||||||||||||||||||
| DLR - Research area: | Raumfahrt | ||||||||||||||||||||||||
| DLR - Program: | R SY - Space System Technology | ||||||||||||||||||||||||
| DLR - Research theme (Project): | Vorhaben Intelligente Mobilität (old) | ||||||||||||||||||||||||
| Location: | Oberpfaffenhofen | ||||||||||||||||||||||||
| Institutes and Institutions: | Institute of Robotics and Mechatronics (since 2013) > Analysis and Control of Advanced Robotic Systems | ||||||||||||||||||||||||
| Deposited By: | Kim, MinJun | ||||||||||||||||||||||||
| Deposited On: | 14 Dec 2018 00:18 | ||||||||||||||||||||||||
| Last Modified: | 24 Apr 2024 20:28 |
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