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Byeongjun Kim

2 accepted papers

2023

Globally Defined Dynamic Modelling and Geometric Tracking Controller Design for Aerial Manipulator

Byeongjun Kim, Dongjae Lee, Jeonghyun Byun, H. Jin Kim
ICRA 2023poster

This study presents a globally defined dynamics for a conventional multirotor equipped with a single n\mathbf{-DOF}n\mathbf{-DOF} manipulator using modified Lagrangian dynamics. This enables the reformulation of entire dynamics directly on \text{SO}(3)\text{SO}(3) without exploiting any local coordi…

Cited by 6Source ↗Scholar ↗
2023

Stable Contact Guaranteeing Motion/Force Control for an Aerial Manipulator on an Arbitrarily Tilted Surface

Jeonghyun Byun, Byeongjun Kim, Changhyeon Kim, Donggeon David Oh, H. Jin Kim
ICRA 2023poster

This study aims to design a motion/force controller for an aerial manipulator which guarantees the tracking of time-varying motion/force trajectories as well as the stability during the transition between free and contact motions. To this end, we model the force exerted on the end-effector as the Ke…

Cited by 7Source ↗Scholar ↗