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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:http://purl.utwente.nl/essays/88058
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