Optimal Design and Control of an Aerial Manipulator with Elastic Suspension Using Unidirectional Thrusters
Miguel Arpa Perozo,Jean Dussine,Arda Yiğit,Loïc Cuvillon,Sylvain Durand,Jacques Gangloff,Miguel Arpa Perozo,Jean Dussine,Arda Yiğit,Loïc Cuvillon,Sylvain Durand,Jacques Gangloff
Aerial Manipulators with Elastic Suspension (AMES) may be seen as a hybrid robot mixing properties of classical Aerial Manipulators (AMs) and Cable-Driven Parallel Robots (CDPRs). The optimal design and control of an AMES using unidirectional thrusters are considered in this paper. To maximize the workspace, an optimization algorithm is proposed. The position and orientation of the thrusters are o...
