학술논문
Experiments on coordinated motion of aerial robotic manipulators
Document Type
Conference
Author
Source
2016 IEEE International Conference on Robotics and Automation (ICRA) Robotics and Automation (ICRA), 2016 IEEE International Conference on. :1224-1229 May, 2016
Subject
Language
Abstract
In this paper a three layer control architecture for multiple aerial robotic manipulators is presented. The top layer, on the basis of the desired mission, determines the end-effector desired trajectory for each manipulator, while the middle layer is in charge of computing the motion references in order to track such end-effectors trajectories coming from the upper layer. Finally the bottom layer is a low level motion controller, which tracks the motion references. The overall mission is decomposed in a set of elementary behaviors which are combined together, through the Null Space-based Behavioral (NSB) approach, into more complex compounds behaviors. The proposed framework has been tested conducting an experimental campaign.