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Aerial Robotic Manipulation pp 15–33Cite as

Modeling and Design of Multirotors with Multi-joint Arms

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Part of the book series: Springer Tracts in Advanced Robotics ((STAR,volume 129))

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.

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References

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Author information

Authors and Affiliations

  1. GRVC Robotics Lab Sevilla, Universidad de Sevilla, Seville, Spain

    Guillermo Heredia, Antonio Jimenez-Cano & Anibal Ollero

  2. Civil Aerostructures Unit, Airbus Poland, Warsaw, Poland

    Raul Cano

Authors
  1. Guillermo Heredia
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  2. Raul Cano
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  3. Antonio Jimenez-Cano
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  4. Anibal Ollero
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Corresponding author

Correspondence to Guillermo Heredia .

Editor information

Editors and Affiliations

  1. GRVC Robotics Lab Seville, Universidad de Sevilla, Seville, Spain

    Anibal Ollero

  2. Dipartimento di Ingegneria Elettrica e delle Tecnologie dell’Informazione, Università di Napoli Federico II, Napoli, Italy

    Bruno Siciliano

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Heredia, G., Cano, R., Jimenez-Cano, A., Ollero, A. (2019). Modeling and Design of Multirotors with Multi-joint Arms. In: Ollero, A., Siciliano, B. (eds) Aerial Robotic Manipulation. Springer Tracts in Advanced Robotics, vol 129. Springer, Cham. https://doi.org/10.1007/978-3-030-12945-3_2

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