Omnidirectional Tilt-Rotor Flying Robots for Aerial Physical Interaction by Karen Bodie & Maximilian Brunner & Mike Allenspach

Author:Karen Bodie & Maximilian Brunner & Mike Allenspach
Language: eng
Format: epub
ISBN: 9783031454974
Publisher: Springer Nature Switzerland

(4.66)

(4.67)

(4.68)

The resulting actuation command from Eq. (4.68) is then sent to an actuator allocation module as described in Sect. 4.1.3 to assign corresponding commands to the system’s actuators.

4.3 Macro-Micro Control for Redundant Aerial Manipulators

In this section we describe the control of a parallel manipulator mounted to an omnidirectional flying base in a decoupled control scheme, integrating the dynamic reaction forces of the manipulator as a feed-forward term in the base controller. Our aim with this controller is to make use of the macro-micro model for dynamic end-effector trajectory tracking with high precision, despite positioning errors and disturbances applied to the flying base. Interaction forces at the end-effector can be incorporated by extending this formulation, but this remains a topic of future work. We consider the case in which the reference trajectories for the end-effector position, , and the flying base position and attitude, and are provided by a planning module. We recall that, because of the delta’s 3 translational DOFs, the attitude of the end-effector and of the flying base are the same.

Under these conditions, we aim to achieve the following decoupled control goals: Manipulator action minimizes the end-effector position error given the current base pose.

Download

Copyright Disclaimer:
This site does not store any files on its server. We only index and link to content provided by other sites. Please contact the content providers to delete copyright contents if any and email us, we'll remove relevant links or contents immediately.