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Erschienen in:
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2019 | OriginalPaper | Buchkapitel

4. Task Control

verfasst von : Angel Santamaria-Navarro, Joan Solà, Juan Andrade-Cetto

Erschienen in: Visual Guidance of Unmanned Aerial Manipulators

Verlag: Springer International Publishing

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Abstract

Multirotors, and in particular quadrotors such as the ones used in this book, are underactuated platforms. That is, they can change their torque load and thrust/lift by altering the velocity of the propellers, with only four DoFs (e.g., one for the thrust and three torques). But, as shown in this Chapter, the attachment of a manipulator arm to the base of the robot can be seen as a strategy to alleviate underactuation allowing UAMs to perform complex tasks.

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Vorheriges Kapitel Visual Servo
Nächstes Kapitel Closing Remarks
Fußnoten
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Metadaten
Titel
Task Control
verfasst von
Angel Santamaria-Navarro
Joan Solà
Juan Andrade-Cetto
Copyright-Jahr
2019
Buch
Visual Guidance of Unmanned Aerial Manipulators

Print ISBN: 978-3-319-96579-6

Electronic ISBN: 978-3-319-96580-2

Copyright-Jahr: 2019

DOI
https://doi.org/10.1007/978-3-319-96580-2_4

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