Aerial manipulation robot composed of an autonomous helicopter and a 7 degrees of freedom industrial manipulator

Proceedings - IEEE International Conference on Robotics and Automation

Volumn , Issue , 2014, Pages 2107-2112

  Kondak, K ^a   Huber, F ^a   Schwarzbach, M ^a   Laiacker, M ^a   Sommer, D ^a   Bejar, M ^b   Ollero, A ^c,d  

^a GERMAN AEROSPACE CENTER DLR   (Germany)

^b UNIVERSIDAD PABLO DE OLAVIDE   (Spain)

^c UNIVERSITY OF SEVILLE   (Spain)

^d Center for Advanced Aerospace Technologies (CATEC)   (Spain)

Author keywords

[No Author keywords available]

Indexed keywords

AIRCRAFT CONTROL; ANTENNAS; CONTROLLERS; DEGREES OF FREEDOM (MECHANICS); HELICOPTERS; INDUSTRIAL MANIPULATORS;

AUTONOMOUS HELICOPTERS; DYNAMICAL COUPLING; ENERGY FLOW; HIGH-PERFORMANCE CONTROLLERS; IDEAL CONTROLLERS; INTERACTION FORCES; INTERNAL FORCES; ROTOR BLADES;

MANIPULATORS;

EID: 84929223834     PISSN: 10504729     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/ICRA.2014.6907148     Document Type: Conference Paper

References (11)

1. D. Mellinger, Q. Lindsey, M. Shomin, and V. Kumar, "Design, modeling, estimation and control for aerial grasping and manipulation," in IROS, pp. 2668-2673, IEEE, 2011.
2. A. Albers, S. Trautmann, T. Howard, T. A. Nguyen, M. Frietsch, and C. Sauter, "Semiautonomous flying robot for physical interaction with environment," in Robotics, Automation and Mechatronics, 2010.
3. P. Pounds, D. R. Bersak, and A. M. Dollar, "Grasping from the air: Hovering capture and load stability," in ICRA, pp. 2491-2498, IEEE, 2011.
4. V. Lippiello and F. Ruggiero, "Exploiting redundancy in cartesian impedance control of uavs equipped with a robotic arm," in Proceedings of the 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2012.
5. C. M. Korpela, T. W. Danko, and P. Y. Oh, "MM-UAV: Mobile manipulating unmanned aerial vehicle," Journal of Intelligent and Robotic Systems, vol. 65, no. 1-4, pp. 93-101, 2012.
6. K. Kondak, A. Ollero, I. Maza, K. Krieger, A. Albu-Schäffer, M. Schwarzbach, and M. Laiacker, Handbook of Unmanned Aerial Vehicles, ch. Unmanned Aerial Systems Physically Interacting with the Environment. Load Transportation, Deployment and Aerial Manipulation. Berlin, Germany: Springer-Verlag, 2013.
7. F. Huber, K. Kondak, K. Krieger, D. Sommer, M. Schwarzbach, M. Laiacker, I. Kossyk, and A. Albu-Schäffer, "First analysis and experiments in aerial manipulation using fully actuated redundant robot arm," in IEEE/RSJ International Conference on Intelligent Robots and Systems, 2013.
8. A. Albu-Schäffer, C. Ott, and G. Hirzinger, "A unified passivity-based control framework for position, torque and impedance control of flexible joint robots," The International Journal of Robotics Research, vol. 26, no. 1, pp. 23-39, 2007.
9. C. Ott, Cartesian Impedance Control of Redundant and Flexible-Joint Robots. Berlin, Germany: Springer-Verlag, 2008.
10. M. Bernard, K. Kondak, I. Maza, and A. Ollero, "Autonomous transportation and deployment with aerial robots for search and rescue missions," Journal of Field Robotics, vol. 28, no. 6, pp. 914-931, 2011.
11. K. Kondak, M. Bernard, N. Meyer, and G. Hommel., "Autonomously flying vtol-robots: Modeling and control," in International Conference on Robotics and Automation, ICRA, IEEE, 2007.