首页|Findings from University of Strasbourg Update Understanding of Robotics (Dynamic Control of a Macro-mini Aerial Manipulator With Elastic Suspension)
Findings from University of Strasbourg Update Understanding of Robotics (Dynamic Control of a Macro-mini Aerial Manipulator With Elastic Suspension)
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By a News Reporter-Staff News Editor at Robotics & Machine Learning Daily News Daily News-Current study results on Robotics have been published. According to news reporting out of Strasbourg, France, by NewsR x editors, research stated, "In this article, a macro-mini aerial manipulator wi th elastic suspension is introduced. The mini is an omnidirectional aerial manip ulator suspended from the macro by a spring." Financial support for this research came from Agence Nationale de la Recherche ( ANR). Our news journalists obtained a quote from the research from the University of S trasbourg, "The macro is a Cartesian robot that moves the anchoring point of the spring. This design combines the advantages of the large workspace of the macro robot with the high dynamics of aerial vehicles, while reducing energy consumpti on thanks to gravity compensation. A partitioned control scheme is first impleme nted to regulate the aerial manipulator and its carrier separately. The redundan cy resolution strategy positions the macrorobot to minimize the energy consumpti on of the aerial manipulator at steady state. Then, a nonlinear model predictive controller replaces the partitioned controller to improve further the efficienc y of the combined system, notably by anticipating the slow dynamics of the macro robot. A sufficient condition for offset-free tracking has been investigated the oretically. Experiments with a cable-driven parallel robot as macro are carried out to assess the added value of the carrier."
StrasbourgFranceEuropeEmerging Tec hnologiesMachine LearningRobotRoboticsUniversity of Strasbourg
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