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A Geometric Pulling Force Controller for Aerial Robotic Workers
Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Signals and Systems.ORCID iD: 0000-0002-2001-7171
Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Signals and Systems.ORCID iD: 0000-0001-5735-5484
Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Signals and Systems.ORCID iD: 0000-0003-0126-1897
2017 (English)In: IFAC-PapersOnLine, ISSN 1045-0823, E-ISSN 1797-318X, Vol. 50, no 1, p. 10287-10292Article in journal (Refereed) Published
Abstract [en]

The aim of this article is to establish a geometric, pulling force control scheme in order to enable the concept of Aerial Robotic Workers (ARWs), where the capabilities of the Unmanned Aerial Vehicles (UAVs) are enhanced by aerial manipulators in order to exert known pulling forces on the environment, with characteristic applications such as levers actuation, debris removal and safety assessments. The proposed novel approach consists of interfacing a cascaded position control scheme with a manipulation framework in such a way that the UAV, together with the manipulator are being controlled in a complete system The validity of the proposed scheme as well as the ability of the UAV to track a desired pulling force is validated through a real-world experiment.

Place, publisher, year, edition, pages
Elsevier, 2017. Vol. 50, no 1, p. 10287-10292
National Category
Control Engineering
Research subject
Control Engineering
Identifiers
URN: urn:nbn:se:ltu:diva-66202DOI: 10.1016/j.ifacol.2017.08.1487ISI: 000423965100209Scopus ID: 2-s2.0-85031804519OAI: oai:DiVA.org:ltu-66202DiVA, id: diva2:1150790
Conference
20th IFAC World Congress, Toulouse, France, 9-14 July 2017
Projects
Collaborative Aerial Robotic Workers, AEROWORKS
Funder
EU, Horizon 2020, 644128
Note

Konferensartikel i tidskrift

Available from: 2017-10-20 Created: 2017-10-20 Last updated: 2018-06-11Bibliographically approved

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Wuthier, DavidKominiak, DariuszFresk, EmilNikolakopoulos, George

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