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In this paper, an impedance control scheme for aerial robotic manipulators is proposed, with the aim of reducing the end-effector interaction forces with the environment. The proposed control has a multi-level architecture, in detail the outer loop is composed by a trajectory generator and an impedance filter that modifies the trajectory to achieve a complaint behaviour in the end-effector space;...
In this paper a three layer control architecture for multiple aerial robotic manipulators is presented. The top layer, on the basis of the desired mission, determines the end-effector desired trajectory for each manipulator, while the middle layer is in charge of computing the motion references in order to track such end-effectors trajectories coming from the upper layer. Finally the bottom layer...
Superior vena cava (SVC) obstruction caused by permanent implantation of leads for pacemakers or defibrillators is not infrequent, having been observed in 35-45% of all cases, and in 20% of cases total occlusion is found 2 years after the intervention [1–3]. Such a high prevalence is observed only if patients are subjected to venography 1 year after implantation, because thrombosis is asymptomatic...
In this paper, an impedance control scheme for cooperative quadrotors with robotic arms is proposed in order to limit both the contact forces, due to the object/environment interaction, and the internal forces, due to the manipulators/ object interaction. To this aim, two impedance filters are used to determine the reference trajectories for manipulator end effectors: the first is aimed at conferring...
This paper presents a control framework for arm/hand systems aimed at controlling internal forces exchanged between the fingers and the grasped object, and enforcing a compliant behavior in presence of environmental interactions. A dynamic planner computes the motion references for the fingers by using the feedback of the contact forces, while an impedance control, in which dynamic effects exerted...
This paper deals with fine contact force control in robotic grasping. The main objective is to achieve tracking of the planned trajectory for a grasped object and, at the same time, ensure suitable grasp quality. Interaction of the grasped object with the external environment is considered as well. To this aim, an impedance control law is adopted to enforce a compliant behavior of the object when...
In this paper a novel hierarchical motion control scheme for quadrotor aerial vehicles equipped with a manipulator is proposed. The controller is organized into two layers: in the top layer, an inverse kinematics algorithm computes the motion references for the actuated variables; in the bottom layer, a motion control algorithm is in charge of tracking the motion references computed by the top layer...
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