INVESTIGADORES
GIRIBET Juan Ignacio
artículos
Título:
Adaptive center-of-mass relocation for aerial manipulator fault tolerance
Autor/es:
POSE CLAUDIO; JUAN I. GIRIBET; IGNACIO MAS
Revista:
IEEE Robotics and Automation Letters
Editorial:
IEEE
Referencias:
Año: 2022 vol. 6
ISSN:
2377-3766
Resumen:
This work proposes a fault tolerant aerial manipulator based on a standard hexarotor vehicle, which is able to maintain independent control of torque and vertical thrust in case of motor failure by adequately changing themanipulator configuration and therefore modifying the position of the system?s center of mass.By analyzing the disturbance torque that the manipulator exerts on the vehicle, conditions to achieve stable flight and operation limits are established.To provide an experimental proof of concept, several flights are performed, both in indoor and outdoor environments, for different size and weight of manipulators.
