Aerial Robots with Rigid/Elastic-joint Arms: Single-joint Controllability Study and Preliminary Experiments
Résumé
We present the dynamic modeling, analysis, and control design of a Planar-Vertical TakeOff and Landing (PVTOL) underactuated aerial vehicle equipped either with a rigid-or an elastic-joint arm. We prove that in both cases the system is exactly linearizable with a dynamic feedback and differentially flat for the same set of outputs (but different controllers). We compare the two cases with extensive and realistic simulations, which show that the rigid-joint case outperforms the elastic-joint case for aerial grasping tasks while the converse holds for link-velocity amplification tasks. We present preliminary experimental results using a actuated joint with variable stiffness (VSA) on a quadrotor platform.
Domaines
Robotique [cs.RO]
Origine : Fichiers produits par l'(les) auteur(s)
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