Aerial Grasping: Modeling and Control of a Flying Hand

R. T. L. M. Tummers; M. Fumagalli; R. Carloni

Aerial Grasping: Modeling and Control of a Flying Hand

Robotics 2017-06-02 v1

Authors: R. T. L. M. Tummers , M. Fumagalli , R. Carloni

Abstract

In this paper, we present the design, simulation and experimental validation of a control architecture for a flying hand, i.e., a system made of an unmanned aerial vehicle, a robotic manipulator and a gripper, which is grasping an object fixed on a vertical wall. The goal of this work is to show that the overall control allows the flying hand to approach the wall, to dock on the object by means of the gripper, take the object and fly away. The control strategy has been implemented and validated in the simulated model and in experiments on the complete flying hand system.

Keywords

aerial grasping flying hand unmanned aerial vehicle robotic manipulator control architecture

Cite

@article{arxiv.1706.00036,
  title  = {Aerial Grasping: Modeling and Control of a Flying Hand},
  author = {R. T. L. M. Tummers and M. Fumagalli and R. Carloni},
  journal= {arXiv preprint arXiv:1706.00036},
  year   = {2017}
}

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