Abstract
In this Chapter, the problem of control of Aerial RObotic MAnipulators (AROMAs) involved in operations requiring the contact with the environment is tackled. Two different approaches are presented: a Cartesian admittance scheme and a decoupled impedance in which selective behaviors for the aerial vehicle and the manipulator are enforced. Finally, some experimental results, collected within the ARCAS project and regarding the Cartesian admittance, are reported and discussed.
Cite
CITATION STYLE
Pierri, F. (2019). Decoupled Impedance and Passivity Control Methods. In Springer Tracts in Advanced Robotics (Vol. 129, pp. 147–157). Springer Verlag. https://doi.org/10.1007/978-3-030-12945-3_10
Register to see more suggestions
Mendeley helps you to discover research relevant for your work.
