Compliance Control of a Cable-Suspended Aerial Manipulator using Hierarchical Control Framework
Chiara Gabellieri,Yuri S Sarkisov,Andre Coelho,Lucia Pallottino,Konstantin Kondak,Min Jun Kim,Chiara Gabellieri,Yuri S Sarkisov,Andre Coelho,Lucia Pallottino,Konstantin Kondak,Min Jun Kim
Aerial robotic manipulation is an emergent trend that poses several challenges. To overcome some of these, the DLR cable-Suspended Aerial Manipulator (SAM) has been envisioned. SAM is composed of a fully actuated multi-rotor anchored to a main carrier through a cable and a KUKA LWR attached below the multi-rotor. This work presents a control method to allow SAM, which is a holonomically constraine...
