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• W2016380077 abstract "This paper proposes a compliant control scheme for a quadrotor helicopter equipped with an n-DOFs manipulator. The proposed control scheme is characterized by three layers: the first layer includes a motion planner, which, on the basis of desired trajectory for the end-effector, determines the desired motion for the actuated variables (joint positions, quadrotor position and yaw angle). The second layer, thanks to an impedance filter, provides a selective compliant behavior to the system, in the presence of interaction of the manipulator end-effector with the environment. Finally, the third layer implements a motion controller aimed at tracking the references output by the previous layer. The effectiveness of the proposed approach is tested in simulation." @default.
• W2016380077 created "2016-06-24" @default.
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• W2016380077 date "2014-06-01" @default.
• W2016380077 modified "2023-10-12" @default.
• W2016380077 title "Selective compliance control for an unmanned aerial vehicle with a robotic arm" @default.
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• W2016380077 doi "https://doi.org/10.1109/med.2014.6961537" @default.
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