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Compliance Control of a Cable-Suspended Aerial Manipulator using Hierarchical Control Framework

Gabellieri, Chiara and Sarkisov, Iurii and Coelho, Andre and Pallottino, Lucia and Kondak, Konstantin and Kim, MinJun (2021) Compliance Control of a Cable-Suspended Aerial Manipulator using Hierarchical Control Framework. In: 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2020. IEEE. 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2020-10-24 - 2021-01-24, Las Vegas, NV, USA. doi: 10.1109/IROS45743.2020.9340703. ISBN 978-172816212-6. ISSN 2153-0858.

Full text not available from this repository.

Official URL: https://ieeexplore.ieee.org/document/9340703

Abstract

Aerial robotic manipulation is an emergent trend that poses several challenges. To overcome some of these, the DLR cable-Suspended Aerial Manipulator (SAM) has been envisioned. SAM is composed of a fully actuated multi-rotor anchored to a main carrier through a cable and a KUKA LWR attached below the multi-rotor. This work presents a control method to allow SAM, which is a holonomically constrained system, to perform such interaction tasks using a hierarchical control framework. Within this framework, compliance control of the manipulator end-effector is considered to have the highest priority. The second priority is the control of the oscillations induced by, for example, the motion of the arm or physical contact with the environment. A third priority task is related to the internal motion of the manipulator. The proposed approach is validated through simulations and experiments.

Item URL in elib:https://elib.dlr.de/192905/
Document Type:Conference or Workshop Item (Speech)
Title:Compliance Control of a Cable-Suspended Aerial Manipulator using Hierarchical Control Framework
Authors:
AuthorsInstitution or Email of AuthorsAuthor's ORCID iDORCID Put Code
Gabellieri, ChiaraUniversità di PisaUNSPECIFIEDUNSPECIFIED
Sarkisov, IuriiUNSPECIFIEDUNSPECIFIEDUNSPECIFIED
Coelho, AndreUNSPECIFIEDhttps://orcid.org/0000-0002-0917-5574UNSPECIFIED
Pallottino, LuciaUniversità di PisaUNSPECIFIEDUNSPECIFIED
Kondak, KonstantinUNSPECIFIEDUNSPECIFIEDUNSPECIFIED
Kim, MinJunUNSPECIFIEDUNSPECIFIEDUNSPECIFIED
Date:10 February 2021
Journal or Publication Title:2020 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2020
Refereed publication:Yes
Open Access:No
Gold Open Access:No
In SCOPUS:Yes
In ISI Web of Science:Yes
DOI:10.1109/IROS45743.2020.9340703
Publisher:IEEE
ISSN:2153-0858
ISBN:978-172816212-6
Status:Published
Keywords:numerical simulation
Event Title:2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Event Location:Las Vegas, NV, USA
Event Type:international Conference
Event Start Date:24 October 2020
Event End Date:24 January 2021
Organizer:IEEE
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Robotics
DLR - Research area:Raumfahrt
DLR - Program:R RO - Robotics
DLR - Research theme (Project):R - Robot Dynamics & Simulation [RO]
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Analysis and Control of Advanced Robotic Systems
Institute of Robotics and Mechatronics (since 2013)
Deposited By: Strobl, Dr. Klaus H.
Deposited On:23 Dec 2022 11:27
Last Modified:24 Apr 2024 20:54

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