Explicit Computations, Simulations and additional Results for the Dynamic Decentralized Control for Protocentric Aerial Manipulators
Résumé
This document is a technical attachment to ”Dynamic Decentralized Control for Protocentric Aerial Manipulators” for explicit
computations of the nominal states and the inputs of a Pro-
tocentric Aerial Manipulator (PAM) in 2D, using differential
flatness property. In ”Dynamic Decentralized Control for Protocentric Aerial Manipulators” these values are used to control a
PAM in 3D. Furthermore, considering the aerial manipulator
design used for the experiments in that paper, here we inves-
tigate the case when the system is non-protocentric; i.e., the
manipulating arm is not exactly attached to the CoM of the
flying robot, P0 . We show the effect of the distance between
this attachment point and P0 on the performance tracking a
composite trajectory. Finally some additional plots related to
the experimental results are provided.
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