Arda Yiğit, Gustave Grappe, L. Cuvillon, S. Durand, J. Gangloff
{"title":"Preliminary Study of an Aerial Manipulator with Elastic Suspension","authors":"Arda Yiğit, Gustave Grappe, L. Cuvillon, S. Durand, J. Gangloff","doi":"10.1109/ICRA40945.2020.9196942","DOIUrl":null,"url":null,"abstract":"This paper presents a preliminary study of an Aerial Manipulator suspended by a spring to a robotic carrier. The suspended aerial manipulator is actuated by six pairs of contra-rotating propellers generating a 6-DoF wrench. Simulations show path following results using a computed torque (feedback linearization) control strategy. Active vibration canceling is validated experimentally on a first prototype.","PeriodicalId":6859,"journal":{"name":"2020 IEEE International Conference on Robotics and Automation (ICRA)","volume":"31 1","pages":"4287-4293"},"PeriodicalIF":0.0000,"publicationDate":"2020-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"4","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"2020 IEEE International Conference on Robotics and Automation (ICRA)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/ICRA40945.2020.9196942","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 4
Abstract
This paper presents a preliminary study of an Aerial Manipulator suspended by a spring to a robotic carrier. The suspended aerial manipulator is actuated by six pairs of contra-rotating propellers generating a 6-DoF wrench. Simulations show path following results using a computed torque (feedback linearization) control strategy. Active vibration canceling is validated experimentally on a first prototype.
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