Session WedAT1 Pegaso A Wednesday, October 10, 2012 ... - Lirmm
Session WedAT1 Pegaso A Wednesday, October 10, 2012 ... - Lirmm
Session WedAT1 Pegaso A Wednesday, October 10, 2012 ... - Lirmm
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<strong>Session</strong> WedBT8 Gemini 1 <strong>Wednesday</strong>, <strong>October</strong> <strong>10</strong>, <strong>2012</strong>, 09:30–<strong>10</strong>:30<br />
Dynamics and Control II<br />
Chair<br />
Co-Chair<br />
09:30–09:45 WedBT8.1<br />
Exploiting Redundancy in Cartesian Impedance<br />
Control of UAVs Equipped with a Robotic Arm<br />
Vincenzo Lippiello and Fabio Ruggiero<br />
Dipartimento di Informatica e Sistemistica, Università degli studi di Napoli<br />
Federico II, Italy<br />
• A Cartesian impedance control for UAVs<br />
equipped with a robotic arm is presented.<br />
• A dynamic relationship between external<br />
forces acting on the structure and the<br />
system motion, specified in terms of<br />
Cartesian space coordinates, is provided.<br />
• Through a suitable choice of such<br />
variables it is possible to exploit the<br />
redundancy of the system to perform<br />
some useful subtasks.<br />
• The hovering control of a quadrotor,<br />
equipped with a 3-DOF robotic arm and<br />
subject to contact forces and external<br />
disturbances is tested in a simulated case<br />
study.<br />
UAV/Arm system illustration with<br />
the related reference frames.<br />
<strong>10</strong>:00–<strong>10</strong>:15 WedBT8.3<br />
A hybrid particle/grid wind model for realtime<br />
small UAV flight simulation<br />
Adam Harmat and Inna Sharf<br />
Mechanical Engineering, McGill University, Canada<br />
Michael Trentini<br />
DRDC-Suffield, Canada<br />
• Fast vortex particle method for approximate wind dynamics<br />
• Integrated with Gazebo robot simulator as a plug-in<br />
• Qualitative comparison to high-fidelity CFD test cases<br />
• Small UAV flight over a building, comparison to simpler wind model<br />
09:45–<strong>10</strong>:00 WedBT8.2<br />
Modeling and Motion Analysis of Fixed-pitch Coaxial<br />
Rotor Unmanned Helicopter<br />
Satoshi Suzuki<br />
Young Researchers Empowerment Center , Shinshu University, Japan<br />
Takahiro Ishii<br />
Graduate School of Science and Technology, Shinshu University, Japan<br />
Gennai Yanagisawa and Yasutoshi Yokoyama<br />
GEN Corporation, Japan<br />
Kazuki Tomita<br />
Engineering System, Japan<br />
• Fixed-pitch co-axial rotor unmanned<br />
helicopter with specific mechanisms is<br />
proposed.<br />
• Precise mathematical model of the<br />
helicopter is derived using multi-body<br />
dynamics technique.<br />
• Motion analysis is performed to<br />
establish the relation between the<br />
motion and mechanical parameters.<br />
<strong>2012</strong> IEEE/RSJ International Conference on Intelligent Robots and Systems<br />
–135–<br />
Fixed-pitch co-axial rotor<br />
unmanned helicopter<br />
<strong>10</strong>:15–<strong>10</strong>:30 WedBT8.4<br />
Parallel Force-Position Control Mediated by<br />
Tactile Maps for Robot Contact Tasks<br />
Simone Denei, Fulvio Mastrogiovanni and Giorgio Cannata<br />
University of Genova, Italy<br />
• Tactile maps prove to be<br />
a good representation<br />
structure for defining<br />
contact trajectories.<br />
• This concept is further extended for<br />
embedding additional information that are<br />
local with respect to a specific robot<br />
body area.<br />
• Augmented maps provides a good way to<br />
associate references, such as forces or<br />
contact motion velocities, to areas on the<br />
robot skin.<br />
An example of augmented tactile<br />
map (on the right) of the skin<br />
placed on a robot forearm (on the<br />
left). A polygon divides it into<br />
an inner region (in yellow) and<br />
an outside region (in grey)<br />
associated to different force<br />
references.<br />
• The contact centroid is reported on the maps and used to extract the<br />
references to fed to the Parallel Force-Position Control moving the<br />
robot in contact.