Passivity-based Decentralized Control for Collaborative Grasping of Under-Actuated Aerial Manipulators
Jinyeong Jeong,Min Jun Kim,Jinyeong Jeong,Min Jun Kim
This paper proposes a decentralized passive impedance control scheme for collaborative grasping using under-actuated aerial manipulators (AMs). The AM system is formulated, using a proper coordinate transformation, as an inertially decoupled dynamics with which a passivity-based control design is conducted. Since the interaction for grasping can be interpreted as a feedback interconnection of pass...
