University of Twente Student Theses
Jerk-based Control of Aerial Manipulators in Physical Interaction with the Environment
Bastiaens, T (2023) Jerk-based Control of Aerial Manipulators in Physical Interaction with the Environment.
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| Abstract: | For complex interaction tasks, in which there exist multiple constraints that must be satisfied for successful execution of task, it is common to formulate these control problems as quadratic programming (QP) problems. Recently in the humanoid robotics literature, these type of problems is formulated at the jerk level where feedback from force/torque (FT) sensors plays a pivotal roll. When jerk-based control is implemented on aerial manipulators, there is additionally feedback from an inertial measurement unit (IMU). This paper demonstrates that including feedback from this sensor improves performance on both motion and force tasks and that it improves robustness against noise and modelling errors. |
| Item Type: | Essay (Master) |
| Faculty: | EEMCS: Electrical Engineering, Mathematics and Computer Science |
| Subject: | 33 physics |
| Programme: | Systems and Control MSc (60359) |
| Link to this item: | https://purl.utwente.nl/essays/96603 |
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