首页|Studies from National University Have Provided New Information about Robotics (Multitask Control of Aerial Manipulator Robots With Dynamic Compensation Based On Numerical Methods)
Studies from National University Have Provided New Information about Robotics (Multitask Control of Aerial Manipulator Robots With Dynamic Compensation Based On Numerical Methods)
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NETL
NSTL
Elsevier
Data detailed on Robotics have been presented. According to news reporting from San Juan, Argentina, by NewsRx journalists, research stated, "This paper presents a control scheme for aerial manipulators which allows to solve different motion problems: end -effector position control, end -effector trajectory tracking control and path -following control. The scheme has two cascaded controllers: i) the first controller is a minimum norm controller based on numerical methods, it solves the three motion control problems just by modifying the controller references." Funders for this research include Deutscher Akademischer Austausch Dienst (DAAD), Universidad de las Fuerzas Armadas ESPE, Ecuador. The news correspondents obtained a quote from the research from National University, "Also, since the aerial manipulator robot is a redundant system, i.e., it has extra degrees of freedom to accomplish the task, it is possible to set other control objectives in a hierarchical order. As a secondary objective of the control it is proposed to maintain a desired configuration for the robotic arm during the task. ii) The second cascade controller is designed to compensate the dynamics of the system which main objective is to drive the velocity errors to zero. The coupled dynamic model of the robotic system (hexarotor and robotic arm) is presented. This model is usually developed as a function of the forces and torques. However, in this work, it is written as a function of reference velocities which are usual references for these vehicles. The proposed control algorithms are given with the corresponding stability and robustness analysis."
San JuanArgentinaEmerging TechnologiesMachine LearningNano-robotRoboticsRobotsNational University
NETL
NSTL
Elsevier
