Exploiting redundancy in Cartesian impedance control of UAVs equipped with a robotic arm

@article{Lippiello2012ExploitingRI,
  title={Exploiting redundancy in Cartesian impedance control of UAVs equipped with a robotic arm},
  author={Vincenzo Lippiello and Fabio Ruggiero},
  journal={2012 IEEE/RSJ International Conference on Intelligent Robots and Systems},
  year={2012},
  pages={3768-3773}
}
A Cartesian impedance control for UAVs equipped with a robotic arm is presented in this paper. A dynamic relationship between generalized external forces acting on the structure and the system motion, which is specified in terms of Cartesian space coordinates, is provided. Through a suitable choice of such variables and with respect to a given task, thanks to the added degrees of freedom given by the robot arm attached to the UAV, it is possible to exploit the redundancy of the system so as to… CONTINUE READING
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