Passivity-based Decentralized Control for Collaborative Grasping of Under-Actuated Aerial Manipulators

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This paper proposes a decentralized passive impedance control scheme for collaborative grasping using under-actuated aerial manipulators (AMs). The AM system is formulated, using a proper coordinate transformation, as an inertially decoupled dynamics with which a passivity-based control design is conducted. Since the interaction for grasping can be interpreted as a feedback interconnection of passive systems, an arbitrary number of AMs can be modularly combined, leading to a decentralized control scheme. Another interesting consequence of the passivity property is that the AMs automatically converge to a certain configuration to accomplish the grasping. Collaborative grasping using 10 AMs is presented in simulation.
Publisher
IEEE
Issue Date
2023-05-29
Language
English
Citation

2023 IEEE International Conference on Robotics and Automation (ICRA)

DOI
10.1109/icra48891.2023.10160334
URI
http://hdl.handle.net/10203/311222
Appears in Collection
EE-Conference Papers(학술회의논문)
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