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Generalized center of gravity compensation for multirotors with application to aerial manipulation
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.
Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Signals and Systems.ORCID iD: 0000-0003-0126-1897
2017 (English)In: IEEE International Conference on Intelligent Robots and Systems, Piscataway, NJ: Institute of Electrical and Electronics Engineers (IEEE), 2017, p. 4424-4429, article id 8206307Conference paper, Published paper (Refereed)
Abstract [en]

The aim of this paper is to establish a generalized parameter estimation scheme to online estimate the Center of Gravity (COG) for multirotors, while using a geometric controller to perform position tracking for applications in aerial manipulation. The proposed scheme is developed so the controller uses the estimated COG to compensate and remove constant offset in the position tracking. The efficiency and validity of the proposed parameter estimation and compensation scheme is proved through two experimental evaluations, one when step changes to the COG are applied and one tracking experiment where a compact aerial manipulator is attached to the multirotor and performs sweeping motions.

Place, publisher, year, edition, pages
Piscataway, NJ: Institute of Electrical and Electronics Engineers (IEEE), 2017. p. 4424-4429, article id 8206307
Series
IEEE International Conference on Intelligent Robots and Systems, ISSN 2153-0858
National Category
Control Engineering
Research subject
Control Engineering
Identifiers
URN: urn:nbn:se:ltu:diva-67756DOI: 10.1109/IROS.2017.8206307ISI: 000426978204043ISBN: 9781538626825 (electronic)OAI: oai:DiVA.org:ltu-67756DiVA, id: diva2:1185610
Conference
2017 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2017, Vancouver, Canada, 24 -28 September 2017
Projects
Collaborative Aerial Robotic Workers, AEROWORKS
Funder
EU, Horizon 2020, 644128Available from: 2018-02-26 Created: 2018-02-26 Last updated: 2018-06-04Bibliographically approved

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The full text will be freely available from 2019-12-14 09:08
Available from 2019-12-14 09:08

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CiteExportLink to record
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Citation style
  • apa
  • harvard1
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
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