First analysis and experiments in aerial manipulation using fully actuated redundant robot arm

@article{Huber2013FirstAA,
  title={First analysis and experiments in aerial manipulation using fully actuated redundant robot arm},
  author={Felix Huber and Konstantin Kondak and Kai Krieger and Dominik Sommer and Marc Schwarzbach and Maximilian Laiacker and Ingo Kossyk and Sven Parusel and Sami Haddadin and Alin Albu-Sch{\"a}ffer},
  journal={2013 IEEE/RSJ International Conference on Intelligent Robots and Systems},
  year={2013},
  pages={3452-3457}
}
In this paper we describe a system for aerial manipulation composed of a helicopter platform and a fully actuated seven Degree of Freedom (DoF) redundant industrial robotic arm. We present the first analysis of such kind of systems and show that the dynamic coupling between helicopter and arm can generate diverging oscillations with very slow frequency which we called phase circles. Based on the presented analysis, we propose a control approach for the whole system. The partial decoupling… CONTINUE READING
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