Explicit Computations and Further Extensive Simulations for Rigid-or Elastic-joint Arm: Technical Attachment to: " Aerial Robots with Rigid/Elastic-joint Arms: Single-joint Controllability Study and Preliminary Experiment " 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, Daejeon, South Korea, October 2016

Burak Yüksel 1 Nicolas Staub 2 Antonio Franchi 2
2 LAAS-RIS - Équipe Robotique et InteractionS
LAAS - Laboratoire d'analyse et d'architecture des systèmes [Toulouse]
Abstract : This document is a technical attachment to the paper: B. Yüksel and N. Staub and A. Franchi, " Aerial Robots with Rigid/Elastic-joint Arms: Single-joint Controllability Study and Preliminary Experiment ", in 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, Daejeon, South Korea, October 2016, that provides the explicit computations on the proofs and some numerical simulations. We also provide an informal recall of exact feedback linearization and differential flatness of the system at hand. In addition, Fig. 7 is given to support the experiment’s section of the aforementioned paper.
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Burak Yüksel, Nicolas Staub, Antonio Franchi. Explicit Computations and Further Extensive Simulations for Rigid-or Elastic-joint Arm: Technical Attachment to: " Aerial Robots with Rigid/Elastic-joint Arms: Single-joint Controllability Study and Preliminary Experiment " 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, Daejeon, South Korea, October 2016. [Technical Report] Rapport LAAS n° 16198, LAAS-CNRS; MPI - Max Planck Institute for Biological Cybernetics. 2016. ⟨hal-01345564v2⟩

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