Impedance Control of an aerial-manipulator: Preliminary results

被引：0

作者：

Cataldi, E. ^{[1
]}

Muscio, G. ^{[2
]}

Trujillo, M. A. ^{[3
]}

Rodriguez, Y.

Pierri, F. ^{[2
]}

Antonelli, C. ^{[1
]}

Caccavale, E. ^{[2
]}

Viguria, A. ^{[3
]}

Chiaverini, S. ^{[1
]}

Ollero, A. ^{[4
]}

机构：

[1] Univ Cassino & Southern Lazio, Cassino, Italy

[2] Univ Basilicata, Potenza, Italy

[3] Ctr Adv Aerosp Technol CATEC, Seville, Spain

[4] Univ Seville, Seville, Spain

来源：

2016 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS 2016) | 2016年

基金：

欧盟地平线“2020”;

关键词：

D O I：

暂无

中图分类号：

TP18 [人工智能理论];

学科分类号：

081104 ; 0812 ; 0835 ; 1405 ;

摘要：

In this paper, an impedance control scheme for aerial robotic manipulators is proposed, with the aim of reducing the end-effector interaction forces with the environment. The proposed control has a multi-level architecture, in detail the outer loop is composed by a trajectory generator and an impedance filter that modifies the trajectory to achieve a complaint behaviour in the end-effector space; a middle loop is used to generate the joint space variables through an inverse kinematic algorithm; finally the inner loop is aimed at ensuring the motion tracking. The proposed control architecture has been experimentally tested.

引用

页码：3848 / 3853

页数：6

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