Leader/Follower Force Control of Aerial Manipulators
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DOI: 10.1109/access.2021.3053654
Abstract: This article focuses on the modeling and controlling of Unmanned Aerial Manipulators (UAMs) in a leader/follower configuration performing a cooperative manipulation task. Each UAM consists of an Unmanned Aerial Vehicle (UAV) with an attached serial-link… read more here.
Keywords: follower force; force control; leader; leader follower ... See more keywords
Trajectory Generation for Unmanned Aerial Manipulators Through Quadratic Programming
Sign Up to like & getrecommendations! Published in 2017 at "IEEE Robotics and Automation Letters"
DOI: 10.1109/lra.2016.2633625
Abstract: In this paper, a trajectory generation approach using quadratic programming is described for aerial manipulation, i.e., for the control of an aerial vehicle equipped with a robot arm. The proposed approach applies the online active… read more here.
Keywords: trajectory generation; aerial manipulators; unmanned aerial; generation unmanned ... See more keywords
An Integrated Framework for Cooperative Aerial Manipulators in Unknown Environments
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DOI: 10.1109/lra.2018.2807486
Abstract: This letter presents a viable framework that integrates control, estimation of unknown payload, safety management, and obstacle avoidance for cooperative transportation in unknown environments using multiple aerial manipulators. Unlike existing approaches for cooperative manipulation based… read more here.
Keywords: integrated framework; manipulators unknown; aerial manipulators; cooperative aerial ... See more keywords
Planning and Control for Collision-Free Cooperative Aerial Transportation
Sign Up to like & getrecommendations! Published in 2018 at "IEEE Transactions on Automation Science and Engineering"
DOI: 10.1109/tase.2016.2605707
Abstract: This paper presents planning and control synthesis for multiple aerial manipulators to transport a common object. Each aerial manipulator that consists of a hexacopter and a two-degree-of-freedom robotic arm is controlled by an augmented adaptive… read more here.
Keywords: aerial manipulators; control; rrt; planning control ... See more keywords