Cartesian Impedance Control of a UAV with a Robotic Arm

Lippiello, Vincenzo; Ruggiero, Fabio

doi:10.3182/20120905-3-hr-2030.00158

Cited by 123 publications

(132 citation statements)

References 23 publications

Supporting

Mentioning

132

Contrasting

Order By: Relevance

“…From passive tasks like inspection [1,2], surveillance and monitoring [3], remote sensing and so on, such aerial vehicles are now beginning to be employed in active tasks like grasping [4] and manipulation [5][6][7][8][9][10][11][12][13][14][15][16]. This change of perspective requires the UAV to operate in changing and unstructured scenarios.…”

Section: Introductionmentioning

confidence: 99%

Passivity-based control of VToL UAVs with a momentum-based estimator of external wrench and unmodeled dynamics

Ruggiero¹,

Cacace²,

Sadeghian

et al. 2015

Robotics and Autonomous Systems

Self Cite

View full text Add to dashboard Cite

Section: Introductionmentioning

confidence: 99%

Passivity-based control of VToL UAVs with a momentum-based estimator of external wrench and unmodeled dynamics

Ruggiero¹,

Cacace²,

Sadeghian

et al. 2015

Robotics and Autonomous Systems

Self Cite

View full text Add to dashboard Cite

“…In [1] and [2] cartesian impedance control and redundancy is discussed. In [3] outer loop adaptive control was used to control the Aerial Manipulator and in [4] vision sensors were used for control simulations.…”

Section: Introductionmentioning

confidence: 99%

Hierarchical control of aerial manipulation vehicle

Kannan

Bezzaoucha

Guzman

et al. 2017

AIP Conference Proceedings

View full text Add to dashboard Cite

show abstract

“…The dynamics can then be described as a second-order system or using the Euler-Lagrange equation as described in [23], leading to a formulation similar to [13]:…”

Section: I Bmentioning

confidence: 99%

Fast Trajectory Optimization for Agile Quadrotor Maneuvers with a Cable-Suspended Payload

Foehn

Falanga

Kuppuswamy³

et al. 2017

Robotics: Science and Systems XIII

113

View full text Add to dashboard Cite

Abstract-Executing agile quadrotor maneuvers with cablesuspended payloads is a challenging problem and complications induced by the dynamics typically require trajectory optimization. State-of-the-art approaches often need significant computation time and complex parameter tuning. We present a novel dynamical model and a fast trajectory optimization algorithm for quadrotors with a cable-suspended payload. Our first contribution is a new formulation of the suspended payload behavior, modeled as a link attached to the quadrotor with a combination of two revolute joints and a prismatic joint, all being passive. Differently from state of the art, we do not require the use of hybrid modes depending on the cable tension. Our second contribution is a fast trajectory optimization technique for the aforementioned system. Our model enables us to pose the trajectory optimization problem as a Mathematical Program with Complementarity Constraints (MPCC). Desired behaviors of the system (e.g., obstacle avoidance) can easily be formulated within this framework. We show that our approach outperforms the state of the art in terms of computation speed and guarantees feasibility of the trajectory with respect to both the system dynamics and control input saturation, while utilizing far fewer tuning parameters. We experimentally validate our approach on a real quadrotor showing that our method generalizes to a variety of tasks, such as flying through desired waypoints while avoiding obstacles, or throwing the payload toward a desired target. To the best of our knowledge, this is the first time that three-dimensional, agile maneuvers exploiting the system dynamics have been achieved on quadrotors with a cable-suspended payload. SUPPLEMENTARY MATERIALThis paper is accompanied by a video showcasing the experiments: https://youtu.be/s9zb5MRXiHA

show abstract

Cartesian Impedance Control of a UAV with a Robotic Arm

Cited by 123 publications

References 23 publications

Passivity-based control of VToL UAVs with a momentum-based estimator of external wrench and unmodeled dynamics

Passivity-based control of VToL UAVs with a momentum-based estimator of external wrench and unmodeled dynamics

Hierarchical control of aerial manipulation vehicle

Fast Trajectory Optimization for Agile Quadrotor Maneuvers with a Cable-Suspended Payload

Contact Info

Product

Resources

About