Impedance control of a vehcile-manipulator system, preliminary reuslts



Experminents, of the interaction of the system with the environment, attaching at the end-effector once a rope and another time a semi-flexible bar.

Underwater vehicle-manipulator while perform two operations. Simulations



In this video, it has been required to the system to impress a force (200 N) on a button in underwater environment.



In this video, it has been required to the system to rotate a valve (20 deg) in underwater environment.

Underwater vehicle-manipulator cooperative. Simulations



In this video, it has been required to the system composed by two vehicle-manipulator system, to transport an object. The control approach used in this simulation is based on two loops level for each system, we have an internal loop that take into account the kinematic and dynamic control whereas the external loop manages forces exchanged between the bar and the end-effector.

Adaptive Control of Arm-equipped Quadrotors. Simulations

Adaptive Trajectory Tracking for Quadrotors MAVs in Presence of Parameter Uncertainties and External Disturbances

Files

V-REP model of a dual arm quadrotor Download here

The easy planner Download here