Titlebook: Aerial Robotic Manipulation; Research, Developmen Anibal Ollero,Bruno Siciliano Book 2019 Springer Nature Switzerland AG 2019 Aerial roboti

PSA-velocity

Behavioral Coordinated Kinematic Controlr, is to take into account, at the same time, several additional control objectives such as, for example, all the safety-related tasks. This Part of the book addresses a possible control approach to achieve coordinated, whole-body control. The solution considered, developed at the kinematic level, l

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indigenous

Centralized Control of Helicopters with Manipulatorslso the manipulator control is described. Next the coordinated control for the helicopter and manipulator is presented including vision-based object tracking and physical interaction with the environment. Finally experiments in grasping and transportation are presented.

Scleroderma

Decoupled Impedance and Passivity Control Methodsackled. Two different approaches are presented: a Cartesian admittance scheme and a decoupled impedance in which selective behaviors for the aerial vehicle and the manipulator are enforced. Finally, some experimental results, collected within the ARCAS project and regarding the Cartesian admittance,

玷污

Decentralized Control of Aerial Manipulators Through a Momentum-Based Estimatorand the arm are controlled separately in a robust way to counteract the reciprocal disturbances. An estimator of such disturbances, based on the momentum of the system and acting on the unmanned aerial vehicle, is designed. Experiments validate the approach.

冲突

Interaction Control of Platforms with Multi-directional Total Thrustify the total wrench in body frame in any direction. Therefore, they do not suffer from the underactuation of standard collinear multirotors, and are best suited for dexterous tasks, physical interaction, and for carrying aerial manipulators. The chapter describes in order: a full-pose controller wh

dictator

Visual Servoing of Aerial Manipulatorsed visual servo method to drive the aerial vehicle. The proposed technique has the advantage that it contains mild assumptions about the principal point and skew values of the camera, and it does not require prior knowledge of the focal length, in contrast to traditional image-based approaches.