Globally Defined Dynamic Modelling and Geometric Tracking Controller Design for Aerial Manipulator
Byeongjun Kim,Dongjae Lee,Jeonghyun Byun,H. Jin Kim,Byeongjun Kim,Dongjae Lee,Jeonghyun Byun,H. Jin Kim
This study presents a globally defined dynamics for a conventional multirotor equipped with a single $n\mathbf{-DOF}$ manipulator using modified Lagrangian dynamics. This enables the reformulation of entire dynamics directly on $\text{SO}(3)$ without exploiting any local coordinates, and thus problems such as the singularity of Euler angles can be avoided. Since skew-symmetric property of Coriolis...
