A novel approach for aerial drone control in object pickup tasks is presented. The methodology integrates quaternion-observer control to address the challenge of variable mass during object interaction. A specialized non-actuated gripper designed explicitly for aerial drones enhances their ability to grasp objects efficiently. Real-time tests validated the effectiveness and feasibility of the proposed solution. The experiments demonstrated the robustness and adaptability of quaternion-observer control in compensating for variable mass during object pickup tasks. Additionally, the practical utility of the non-conventional gripper design under real-world conditions emphasized its relevance in aerial manipulation scenarios.


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    Title :

    Quaternion-Based Observer Control for Multirotor UAVs, an Application to Unactuated Grasping


    Contributors:


    Publication date :

    2024-06-04


    Size :

    5095347 byte





    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



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