IROS 2016poster90 citations
Impedance Control of an aerial-manipulator: Preliminary results
E. Cataldi, G. Muscio, M. A. Trujillo, Y. Rodriguez, F. Pierri, G. Antonelli, F. Caccavale, A. Viguria
Abstract
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.
BibTeX
@inproceedings{iros2016_impedancecontrol,
title = {Impedance Control of an aerial-manipulator: Preliminary results},
author = {E. Cataldi and G. Muscio and M. A. Trujillo and Y. Rodriguez and F. Pierri and G. Antonelli and F. Caccavale and A. Viguria and S. Chiaverini and A. Ollero},
booktitle = {IROS 2016},
year = {2016}
}