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Passive compliance control of aerial manipulators

Kim, MinJun and Balachandran, Ribin and De Stefano, Marco and Kondak, Konstantin and Ott, Christian (2018) Passive compliance control of aerial manipulators. In: IEEE International Conference on Intelligent Robots and Systems. 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, 105 Oct 2018, Madrid, Spain.

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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/
Document Type:Conference or Workshop Item (Speech, Poster)
Title:Passive compliance control of aerial manipulators
AuthorsInstitution or Email of AuthorsAuthor's ORCID iD
Kim, MinJunMinJun.Kim (at) dlr.dehttps://orcid.org/0000-0003-0605-4512
Balachandran, Ribinribin.balachandran (at) dlr.deUNSPECIFIED
De Stefano, Marcomarco.destefano (at) dlr.deUNSPECIFIED
Kondak, Konstantinkonstantin.kondak (at) dlr.deUNSPECIFIED
Ott, ChristianChristian.Ott (at) dlr.dehttps://orcid.org/0000-0003-0987-7493
Journal or Publication Title:IEEE International Conference on Intelligent Robots and Systems
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In ISI Web of Science:No
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 Dates:105 Oct 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:31 Jul 2019 20:22

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