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General information |
| Author |
Constantin Kondak, Kai Krieger; Albu-Schaeffer, Alin; Schwarzbach, Marc; Laiacker, Maximilian; Maza, Ivan; Rodriguez-Castano, Angel; Ollero, Anibal |
| Published |
InTech Open Access Publisher, 2013
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| Abstract |
This paper is devoted to the control of aerial
robots interacting physically with objects in the
environment and with other aerial robots. The paper
presents a controller for the particular case of a smallscaled
autonomous helicopter equipped with a robotic
arm for aerial manipulation. Two types of influences are
imposed on the helicopter from a manipulator: coherent
and non‐coherent influence. In the former case, the forces
and torques imposed on the helicopter by the
manipulator change with frequencies close to those of the
helicopter movement. The paper shows that even small
interaction forces imposed on the fuselage periodically in
proper phase could yield to low frequency instabilities
and oscillations, so‐called phase circles. |
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International Journal of Advanced Robotic Systems
Author: Ottaviano, Erika; Ceccarelli, Marco; Husty, Manfred; Yu, Sung-Hoon; Kim, Yong-Tae; Park, Chang-Woo; Hyun, Chang-Ho; Chen, Xiulong; Feng, Weiming; Sun, Xianyang; Gao, Qing; Grigorescu, Sorin M.; Pozna, Claudiu; Liu, Wanli; Zhankui, Wang; Guo, Meng; Fu, Guoyu; Zhang, Jin; Chen, Wenyuan; Peng, Fengchao; Yang, Pei; Chen, Chunlin; Ding, Rui; Yu, Junzhi; Yang, Qinghai; Tan, Min; Polden, Joseph; Pan, [...]
Published: 2004
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