Titlebook: Aerial Robotic Manipulation; Research, Developmen Anibal Ollero,Bruno Siciliano Book 2019 Springer Nature Switzerland AG 2019 Aerial roboti

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Bother

Centralized Control of Helicopters with Manipulatorslso the manipulator control is described. Next the coordinated control for the helicopter and manipulator is presented including vision-based object tracking and physical interaction with the environment. Finally experiments in grasping and transportation are presented.

鬼魂

Stress

Decentralized Control of Aerial Manipulators Through a Momentum-Based Estimatorand the arm are controlled separately in a robust way to counteract the reciprocal disturbances. An estimator of such disturbances, based on the momentum of the system and acting on the unmanned aerial vehicle, is designed. Experiments validate the approach.

種類

Visual Servoing of Aerial Manipulatorsed visual servo method to drive the aerial vehicle. The proposed technique has the advantage that it contains mild assumptions about the principal point and skew values of the camera, and it does not require prior knowledge of the focal length, in contrast to traditional image-based approaches.

夸張

Coordinated Control of Multiple Aerial Manipulatorsr robotic arms). In detail, a hierarchical framework for the control of coordinated motion is presented, based on a three-layer architecture. The developed approach is experimentally tested on a system composed by two multi-rotor aerial platforms, each equipped with a 6-Degrees of Freedom manipulator.

晚來的提名

Aerial Robotic Manipulation978-3-030-12945-3Series ISSN 1610-7438 Series E-ISSN 1610-742X

嚴厲批評

P. Arestis,S. Holly,E. Karakitsosf unmanned aerial vehicles and aerial robotics is included. The next section is devoted to introduce unmanned aerial vehicles physically interacting with the environment with the environment. Finally, aerial robotic manipulation while flying is introduced.

軟弱

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Legal Controls and Voluntary Agreements,his model includes the helicopter dynamics and a model of the of the industrial robot LWR III with 7-Degrees of Freedom. The chapter also includes the description of the mechatronics. The first validation experiments including validation flights are also presented.