Conference
Adaptive Motion Control of Aerial Robotic Manipulators Based on Virtual Decomposition
Abstract
This paper deals with motion control of under-actuated aerial robotic manipulators composed of multi-rotor Unmanned Aerial Vehicles and multi-link serial robotic arms. Kinematics and dynamics analysis of the multi-body mechanical system are performed. Using the method of virtual decomposition, adaptive motion control laws are proposed based on rigid-body inverse dynamics with feedback compensation. Under-actuation imposes second-order …
Authors
Afarinasab MJ; Sirouspour S
Pagination
pp. 1858-1863
Publisher
Institute of Electrical and Electronics Engineers (IEEE)
Publication Date
January 1, 2015
DOI
10.1109/iros.2015.7353620
Name of conference
2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)