Cooperative impedance control for multiple UAVs with a robotic arm
F. Caccavale, G. Giglio, G. Muscio, F. Pierri
Abstract
In this paper, an impedance control scheme for cooperative quadrotors with robotic arms is proposed in order to limit both the contact forces, due to the object/environment interaction, and the internal forces, due to the manipulators/ object interaction. To this aim, two impedance filters are used to determine the reference trajectories for manipulator end effectors: the first is aimed at conferring a compliant behavior at the object level (external impedance), while the second filter, is aimed at avoiding large internal loading of the object (internal impedance). Such trajectories are fed to a motion controller including an inverse kinematics algorithm and a PD controller with gravity compensation. The effectiveness of the proposed approach is then verified in simulation.
BibTeX
@inproceedings{iros2015_cooperativeimped,
title = {Cooperative impedance control for multiple UAVs with a robotic arm},
author = {F. Caccavale and G. Giglio and G. Muscio and F. Pierri},
booktitle = {IROS 2015},
year = {2015}
}