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Conference papers
A novel aerial manipulation design, modelling and control for geometric com compensation
Abstract : This paper presents the design and modelling of a new Aerial manipulating system, that resolve a displacement of centre of gravity of the whole system with a mechanical device. A prismatic joint between the multirotor and a robotic arm is introduced to make a centre of mass as close as to the geometric centre of the whole system. This paper details also the geometric and dynamic modelling of a coupled system with a Lagrange formalism and control law with a Closed Loop Inverse Kinematic Algorithm (CLIKA). This dynamic inverse control is validated in a Simulink environment showing the efficiency of our approach.
Cited literature [32 references]
https://hal.archives-ouvertes.fr/hal-02318714
Contributor : Frédéric Davesne <>
Submitted on : Friday, November 22, 2019 - 4:03:08 PM
Last modification on : Monday, July 6, 2020 - 5:43:58 PM
Contributor : Frédéric Davesne <>
Submitted on : Friday, November 22, 2019 - 4:03:08 PM
Last modification on : Monday, July 6, 2020 - 5:43:58 PM
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