Introduction to Robotics: Mechanics and Control
Introduction to Robotics: Mechanics and Control
Theory of Applied Robotics: Kinematics, Dynamics, and Control
Theory of Applied Robotics: Kinematics, Dynamics, and Control
Robotics: Modelling, Planning and Control
Robotics: Modelling, Planning and Control
Optimal control of a space manipulator for detumbling of a target satellite
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
Generic slung load transportation system using small size helicopters
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
MM-UAV: Mobile Manipulating Unmanned Aerial Vehicle
Journal of Intelligent and Robotic Systems
Design and Control of a Hyper-Redundant Manipulator for Mobile Manipulating Unmanned Aerial Vehicles
Journal of Intelligent and Robotic Systems
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Compared to autonomous ground vehicles, UAVs (unmanned aerial vehicles) have significant mobility advantages and the potential to operate in otherwise unreachable locations. Micro UAVs still suffer from one major drawback: they do not have the necessary payload capabilities to support high performance arms. This paper, however, investigates the key challenges in controlling a mobile manipulating UAV using a commercially available aircraft and a light-weight prototype 3-arm manipulator. Because of the overall instability of rotorcraft, we use a motion capture system to build an efficient autopilot. Our results indicate that we can accurately model and control our prototype system given significant disturbances when both moving the manipulators and interacting with the ground.