This paper develops and simulates a control scheme to allow for trajectory-based tracking of a multirotor-based aerial manipulator. The approach utilizes a low-level Inverse Dynamics controller that proves suitable for the general case of tree-structured aerial manipulators, and is capable of tracking any arbitrary point on the kinematic tree. Simulation results of common maneuvers for pick-and-place related tasks are presented to assess the performance of the system under varying configurations and trajectories.


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    Titel :

    Generalized Trajectory Control for Tree-Structured Aerial Manipulators


    Beteiligte:
    Morton, Kye (Autor:in) / McFadyen, Aaron (Autor:in) / Gonzalez, Felipe (Autor:in)


    Erscheinungsdatum :

    2018-06-01


    Format / Umfang :

    2631820 byte





    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



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