Impedance Control of an aerial-manipulator: Preliminary results

被引：0
|
作者：
Cataldi, E. [1 ]
Muscio, G. [2 ]
Trujillo, M. A. [3 ]
Rodriguez, Y.
Pierri, F. [2 ]
Antonelli, C. [1 ]
Caccavale, E. [2 ]
Viguria, A. [3 ]
Chiaverini, S. [1 ]
Ollero, A. [4 ]
机构：
[1] Univ Cassino & Southern Lazio, Cassino, Italy
[2] Univ Basilicata, Potenza, Italy
[3] Ctr Adv Aerosp Technol CATEC, Seville, Spain
[4] Univ Seville, Seville, Spain
来源：
2016 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS 2016) | 2016年
基金：
欧盟地平线“2020”;
关键词：
D O I：
暂无
中图分类号：
TP18 [人工智能理论];
学科分类号：
081104 ; 0812 ; 0835 ; 1405 ;
摘要：
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.
引用
收藏
页码：3848 / 3853
页数：6
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