Aerial Manipulation
This text is a thorough treatment of the rapidly growing area of aerial manipulation. It details all the design steps required for the modeling and control of unmanned aerial vehicles (UAV) equipped with robotic manipulators. Starting with the physical ba
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Matko Orsag Christopher Korpela Paul Oh Stjepan Bogdan
Aerial Manipulation
Advances in Industrial Control Series editors Michael J. Grimble, Glasgow, UK Michael A. Johnson, Kidlington, UK
More information about this series at http://www.springer.com/series/1412
Matko Orsag Christopher Korpela Paul Oh Stjepan Bogdan •
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Aerial Manipulation
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Matko Orsag Laboratory for Robotics and Intelligent Control Systems, Faculty of Electrical Engineering and Computing University of Zagreb Zagreb Croatia Christopher Korpela Department of Electrical Engineering and Computer Science United States Military Academy West Point, NY USA
Paul Oh Department of Mechanical Engineering University of Nevada Las Vegas Las Vegas, NV USA Stjepan Bogdan Laboratory for Robotics and Intelligent Control Systems, Faculty of Electrical Engineering and Computing University of Zagreb Zagreb Croatia
MATLAB® is a registered trademark of The MathWorks, Inc., 1 Apple Hill Drive, Natick, MA 01760-2098, USA, http://www.mathworks.com. ISSN 1430-9491 ISSN 2193-1577 (electronic) Advances in Industrial Control ISBN 978-3-319-61020-7 ISBN 978-3-319-61022-1 (eBook) https://doi.org/10.1007/978-3-319-61022-1 Library of Congress Control Number: 2017947695 © Springer International Publishing AG 2018, corrected publication October 2017 This work is subject to copyright. All rights are reserved by the Publisher, whether the whole or part of the material is concerned, specifically the rights of translation, reprinting, reuse of illustrations, recitation, broadcasting, reproduction on microfilms or in any other physical way, and transmission or information storage and retrieval, electronic adaptation, computer software, or by similar or dissimilar methodology now known or hereafter developed. The use of general descriptive names, registered names, trademarks, service marks, etc. in this publication does not imply, even in the absence of a specific statement, that such names are exempt from the relevant protective laws and regulations and therefore free for general use. The publisher, the authors and the editors are safe to assume that the advice and information in this book are believed to be true and accurate at the date of publication. Neither the publisher nor the authors or the editors give a warranty, express or implied, with respect to the material contained herein or for any errors or omissions that may have been made. The publisher remains neutral with regard to jurisdictional claims in published maps and institutional affiliations. Printed on acid-free paper This Springer imprint is published by Springer Nature The registered company is Springer International Publishing AG The registered company address is: Gewerbestrasse 11, 6330 Cham, Switzerland
To my dear and patient wife Nives M.O. To my wife, Adriana C.K. To Jakov and Domagoj, my sons S.B.
Series Editors’ Foreword
The series Advances in Industrial Control aims to report and encourage technology transfer in control engineering. The rapid development of control technology has an impact on all
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