Aerial Robots with Rigid/Elastic-joint Arms: Single-joint Controllability Study and Preliminary Experiments

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 : We present the dynamic modeling, analysis, and control design of a Planar-Vertical TakeOff and Landing (PVTOL) underactuated aerial vehicle equipped either with a rigid-or an elastic-joint arm. We prove that in both cases the system is exactly linearizable with a dynamic feedback and differentially flat for the same set of outputs (but different controllers). We compare the two cases with extensive and realistic simulations, which show that the rigid-joint case outperforms the elastic-joint case for aerial grasping tasks while the converse holds for link-velocity amplification tasks. We present preliminary experimental results using a actuated joint with variable stiffness (VSA) on a quadrotor platform.
Document type :
Conference papers
Complete list of metadatas

Cited literature [27 references]  Display  Hide  Download

https://hal.archives-ouvertes.fr/hal-01348545
Contributor : Antonio Franchi <>
Submitted on : Monday, July 25, 2016 - 10:43:14 AM
Last modification on : Friday, October 11, 2019 - 8:23:25 PM

File

2016l-YueStaFra-preprint.pdf
Files produced by the author(s)

Identifiers

  • HAL Id : hal-01348545, version 1

Citation

Burak Yüksel, Nicolas Staub, Antonio Franchi. Aerial Robots with Rigid/Elastic-joint Arms: Single-joint Controllability Study and Preliminary Experiments. 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2016), Oct 2016, Daejeon, South Korea. ⟨hal-01348545⟩

Share

Metrics

Record views

201

Files downloads

284