Explicit Computations, Simulations and additional Results for the Dynamic Decentralized Control for Protocentric Aerial Manipulators

Abstract : This document is a technical attachment to ”Dynamic Decentralized Control for Protocentric Aerial Manipulators” for explicit computations of the nominal states and the inputs of a Pro- tocentric Aerial Manipulator (PAM) in 2D, using differential flatness property. In ”Dynamic Decentralized Control for Protocentric Aerial Manipulators” these values are used to control a PAM in 3D. Furthermore, considering the aerial manipulator design used for the experiments in that paper, here we inves- tigate the case when the system is non-protocentric; i.e., the manipulating arm is not exactly attached to the CoM of the flying robot, P0 . We show the effect of the distance between this attachment point and P0 on the performance tracking a composite trajectory. Finally some additional plots related to the experimental results are provided.
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https://hal.archives-ouvertes.fr/hal-01474695
Contributor : Marco Tognon <>
Submitted on : Tuesday, February 28, 2017 - 11:05:48 AM
Last modification on : Friday, June 14, 2019 - 6:31:14 PM
Long-term archiving on : Monday, May 29, 2017 - 12:20:44 PM

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  • HAL Id : hal-01474695, version 1

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Marco Tognon, Burak Yüksel, Gabriele Buondonno, Antonio Franchi. Explicit Computations, Simulations and additional Results for the Dynamic Decentralized Control for Protocentric Aerial Manipulators. [Research Report] Rapport LAAS n° 17048, LAAS-CNRS; Max Planck Institute for Biological Cybernetics; Sapienza Universit`a di Roma. 2017. ⟨hal-01474695⟩

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