Abstract
The complexity of autonomous Aerial Manipulators (AMs), i.e. Unmanned Aerial Vehicle (UAV) + Robot Manipulator (RM), is growing faster as per our demand of being able to perform complex tasks. This complexity makes the control system to have to take into account somehow the RM dynamics, otherwise the overall behaviour of the system could be compromised. In this work, we thoroughly analyse the overall performance of the AM with a widespread controller designed neglecting the RM dynamics. In particular, the performances under the induced forces/torques provided by a compound interaction of movements of the RM (vibrations) and aerodynamical effects. For the case of study, we consider an UAV multicopter and a generic redundant RM. A complete analysis with realistic simulations on a benchmark is reported.
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Acknowledgement
This work has been supported by the AEROARMS project that receives funding from the European Union Horizon 2020 research and innovation programme under grant agreement No 644271, the AEROMAIN Spanish Ministry project under grant DPI2014-59383-C2-1-R and the by the VPPI of the University of Sevilla.
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R. de Cos, C., Acosta, J.Á., Ollero, A. (2018). Command-Filtered Backstepping Redesign for Aerial Manipulators Under Aerodynamic and Operational Disturbances. In: Ollero, A., Sanfeliu, A., Montano, L., Lau, N., Cardeira, C. (eds) ROBOT 2017: Third Iberian Robotics Conference. ROBOT 2017. Advances in Intelligent Systems and Computing, vol 693. Springer, Cham. https://doi.org/10.1007/978-3-319-70833-1_66
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DOI: https://doi.org/10.1007/978-3-319-70833-1_66
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