University of Twente Student Theses
Control methods and architectures for aerial manipulators in physical interaction with humans
Holland, Mark van (2021) Control methods and architectures for aerial manipulators in physical interaction with humans.
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| Abstract: | The goal of this report is to investigate a possible methodology for human-aerial manipulator interaction. The control scheme presented in this report is inspired from different areas of aerial robotics literature, which will result in an innovative combined scheme. The result is a whole body controller for an aerial manipulator, using optimization methods, which can behave in a compliant manner in response to external forces on its end-effector. The effectiveness of the approach is shown in a realistic simulation environment with human in the loop inputs. The robustness of the system is investigated with respect to measurement noise and parametric uncertainty. |
| Item Type: | Essay (Master) |
| Faculty: | EEMCS: Electrical Engineering, Mathematics and Computer Science |
| Subject: | 50 technical science in general |
| Programme: | Electrical Engineering MSc (60353) |
| Link to this item: | https://purl.utwente.nl/essays/88058 |
| Export this item as: | BibTeX EndNote HTML Citation Reference Manager |
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