Explicit Computations and Further Extensive Simulations for Rigid-or Elastic-joint Arm: Technical Attachment to: " Aerial Robots with Rigid/Elastic-joint Arms: Single-joint Controllability Study and Preliminary Experiment " 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, Daejeon, South Korea, October 2016 - Archive ouverte HAL Accéder directement au contenu
Rapport (Rapport Technique) Année : 2016

Explicit Computations and Further Extensive Simulations for Rigid-or Elastic-joint Arm: Technical Attachment to: " Aerial Robots with Rigid/Elastic-joint Arms: Single-joint Controllability Study and Preliminary Experiment " 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, Daejeon, South Korea, October 2016

Nicolas Staub
Antonio Franchi

Résumé

This document is a technical attachment to the paper: B. Yüksel and N. Staub and A. Franchi, " Aerial Robots with Rigid/Elastic-joint Arms: Single-joint Controllability Study and Preliminary Experiment ", in 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, Daejeon, South Korea, October 2016, that provides the explicit computations on the proofs and some numerical simulations. We also provide an informal recall of exact feedback linearization and differential flatness of the system at hand. In addition, Fig. 7 is given to support the experiment’s section of the aforementioned paper.
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Dates et versions

hal-01345564 , version 1 (14-07-2016)
hal-01345564 , version 2 (28-07-2016)

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  • HAL Id : hal-01345564 , version 2

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Burak Yüksel, Nicolas Staub, Antonio Franchi. Explicit Computations and Further Extensive Simulations for Rigid-or Elastic-joint Arm: Technical Attachment to: " Aerial Robots with Rigid/Elastic-joint Arms: Single-joint Controllability Study and Preliminary Experiment " 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, Daejeon, South Korea, October 2016. [Technical Report] Rapport LAAS n° 16198, LAAS-CNRS; MPI - Max Planck Institute for Biological Cybernetics. 2016. ⟨hal-01345564v2⟩
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