Proceedings of the 16th International Conference on Informatics in Control, Automation and Robotics 2019
DOI: 10.5220/0007951404750482
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A Novel Aerial Manipulation Design, Modelling and Control for Geometric CoM Compensation

Abstract: This paper presents the design and modelling of a new Aerial manipulating system, that resolve a displacement of centre of gravity of the whole system with a mechanical device. A prismatic joint between the multirotor and a robotic arm is introduced to make a centre of mass as close as to the geometric centre of the whole system. This paper details also the geometric and dynamic modelling of a coupled system with a Lagrange formalism and control law with a Closed Loop Inverse Kinematic Algorithm (CLIKA). This … Show more

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Cited by 3 publications
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