This work tackles the problem of controlling an Unmanned Aerial Vehicle equipped with a robotic Manipulator and it has been developed within the framework of the EUfunded ARCAS (Aerial Robotics Cooperative Assembly System) project. A behavioral control, based on the Null Space-based Behavioral (NSB) paradigm, is proposed to tackle the coordination between the arm and vehicle motions. To this aim, a set of basic functionalities (called elementary behaviors) are designed and combined in a priority order to attain complex tasks (called compound behaviors). The proposed controller has been experimentally validated on a multirotor aircraft with an attached 6 Degree of Freedoms manipulator. Two experimental case studies, involving several compound behaviors, have been reported and the results show the effectiveness of the approach.
Experiments on behavioral coordinated control of an Unmanned Aerial Vehicle manipulator system
BAIZID, Khelifa;ANTONELLI, Gianluca;CHIAVERINI, Stefano;
2015-01-01
Abstract
This work tackles the problem of controlling an Unmanned Aerial Vehicle equipped with a robotic Manipulator and it has been developed within the framework of the EUfunded ARCAS (Aerial Robotics Cooperative Assembly System) project. A behavioral control, based on the Null Space-based Behavioral (NSB) paradigm, is proposed to tackle the coordination between the arm and vehicle motions. To this aim, a set of basic functionalities (called elementary behaviors) are designed and combined in a priority order to attain complex tasks (called compound behaviors). The proposed controller has been experimentally validated on a multirotor aircraft with an attached 6 Degree of Freedoms manipulator. Two experimental case studies, involving several compound behaviors, have been reported and the results show the effectiveness of the approach.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
