Session WedAT1 Pegaso A Wednesday, October 10, 2012 ... - Lirmm

Session WedBT8 Gemini 1 Wednesday, October 10, 2012, 09:30–10:30
Dynamics and Control II
Chair
Co-Chair
09:30–09:45 WedBT8.1
Exploiting Redundancy in Cartesian Impedance
Control of UAVs Equipped with a Robotic Arm
Vincenzo Lippiello and Fabio Ruggiero
Dipartimento di Informatica e Sistemistica, Università degli studi di Napoli
Federico II, Italy
• A Cartesian impedance control for UAVs
equipped with a robotic arm is presented.
• A dynamic relationship between external
forces acting on the structure and the
system motion, specified in terms of
Cartesian space coordinates, is provided.
• Through a suitable choice of such
variables it is possible to exploit the
redundancy of the system to perform
some useful subtasks.
• The hovering control of a quadrotor,
equipped with a 3-DOF robotic arm and
subject to contact forces and external
disturbances is tested in a simulated case
study.
UAV/Arm system illustration with
the related reference frames.
10:00–10:15 WedBT8.3
A hybrid particle/grid wind model for realtime
small UAV flight simulation
Adam Harmat and Inna Sharf
Mechanical Engineering, McGill University, Canada
Michael Trentini
DRDC-Suffield, Canada
• Fast vortex particle method for approximate wind dynamics
• Integrated with Gazebo robot simulator as a plug-in
• Qualitative comparison to high-fidelity CFD test cases
• Small UAV flight over a building, comparison to simpler wind model
09:45–10:00 WedBT8.2
Modeling and Motion Analysis of Fixed-pitch Coaxial
Rotor Unmanned Helicopter
Satoshi Suzuki
Young Researchers Empowerment Center , Shinshu University, Japan
Takahiro Ishii
Graduate School of Science and Technology, Shinshu University, Japan
Gennai Yanagisawa and Yasutoshi Yokoyama
GEN Corporation, Japan
Kazuki Tomita
Engineering System, Japan
• Fixed-pitch co-axial rotor unmanned
helicopter with specific mechanisms is
proposed.
• Precise mathematical model of the
helicopter is derived using multi-body
dynamics technique.
• Motion analysis is performed to
establish the relation between the
motion and mechanical parameters.
2012 IEEE/RSJ International Conference on Intelligent Robots and Systems
–135–
Fixed-pitch co-axial rotor
unmanned helicopter
10:15–10:30 WedBT8.4
Parallel Force-Position Control Mediated by
Tactile Maps for Robot Contact Tasks
Simone Denei, Fulvio Mastrogiovanni and Giorgio Cannata
University of Genova, Italy
• Tactile maps prove to be
a good representation
structure for defining
contact trajectories.
• This concept is further extended for
embedding additional information that are
local with respect to a specific robot
body area.
• Augmented maps provides a good way to
associate references, such as forces or
contact motion velocities, to areas on the
robot skin.
An example of augmented tactile
map (on the right) of the skin
placed on a robot forearm (on the
left). A polygon divides it into
an inner region (in yellow) and
an outside region (in grey)
associated to different force
references.
• The contact centroid is reported on the maps and used to extract the
references to fed to the Parallel Force-Position Control moving the
robot in contact.