Modeling and design of multirotors with multi-joint arms
G Heredia, R Cano, A Jimenez-Cano… - Aerial Robotic …, 2019 - Springer
Aerial Robotic Manipulation: Research, Development and Applications, 2019•Springer
This chapter presents the dynamic model of multirotors with multiple arms, which will be
used for controller development in Part III and planning in Part V. It first presents the
modeling of multirotors and arms individually, and them the coupled kinematic and dynamic
model of the aerial robot with multiple arms. The chapter also presents the methodology for
designing a light robotic arm for aerial manipulation.
used for controller development in Part III and planning in Part V. It first presents the
modeling of multirotors and arms individually, and them the coupled kinematic and dynamic
model of the aerial robot with multiple arms. The chapter also presents the methodology for
designing a light robotic arm for aerial manipulation.
Abstract
This chapter presents the dynamic model of multirotors with multiple arms, which will be used for controller development in Part III and planning in Part V. It first presents the modeling of multirotors and arms individually, and them the coupled kinematic and dynamic model of the aerial robot with multiple arms. The chapter also presents the methodology for designing a light robotic arm for aerial manipulation.
Springer
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