Published June 21, 2016
| Version v1
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On the design, modeling and control of a novel compact aerial manipulator
Description
This video presents a novel four-degree-of-freedom aerial manipulator allowing a multirotor Unmanned Aerial Vehicle (UAV) to physically interact with the environment. The proposed design, named CARMA (Compact AeRial MAnipulator), is characterized by low disturbances on the UAV flight dynamics, extended workspace (with regard to its retracted configuration) and fast dynamics (compared to the UAV dynamics). It is shown that the selected joint position sensors, combined with the derived inverse dynamic algorithm allow to determine the wrenches exerted at the base, due to swift motions of the arm.
Files
carma_03.mp4
Files
(83.6 MB)
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