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.
Generalized Trajectory Control for Tree-Structured Aerial Manipulators
2018-06-01
2631820 byte
Conference paper
Electronic Resource
English
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