Abstract
The paper focuses on the mechatronic design of a robotic manipulator that is meant to be mounted on an Unmanned Aerial Vehicle (UAV) and to be used in industrial applications, for both aerial inspection by contact and aerial manipulation. The combination of an UAV and the robotic manipulator realizes the aerial manipulator. The robotic manipulator is designed to be versatile so that the aerial manipulator can perform both trajectory tracking in free fiight and physical interaction. Moreover, the robotic manipulator can be mounted on commercially available UAVs a modular way without interfering with the existing onboard control architecture. Experimental test are validating the overall mechatronic design.
| Original language | English |
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| Title of host publication | IROS 2016 - 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems |
| Number of pages | 6 |
| Volume | 2016-November |
| Publisher | IEEE |
| Publication date | 28 Nov 2016 |
| Pages | 4843-4848 |
| Article number | 7759711 |
| ISBN (Electronic) | 9781509037629 |
| DOIs | |
| Publication status | Published - 28 Nov 2016 |
| Event | 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2016 - Daejeon, Korea, Republic of Duration: 9 Oct 2016 → 14 Oct 2016 |
Conference
| Conference | 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2016 |
|---|---|
| Country/Territory | Korea, Republic of |
| City | Daejeon |
| Period | 09/10/2016 → 14/10/2016 |
Keywords
- Manipulator dynamics
- Kinematics
- Unmanned aerial vehicles
- Frequency modulation
- Sensors
- control engineering computing
- mechatronics
- tracking