Platforms with Multi-directional Total Thrust

TitlePlatforms with Multi-directional Total Thrust
Publication TypeBook Chapter
Year of Publication2019
AuthorsFranchi, A
Book TitleAerial Robotic Manipulation
Date Published06/2019

The chapter provides an overview of the basic modeling and the intrinsic properties of aerial platforms with multi-directional total thrust ability. When also fully-actuated, such platforms can modify the total wrench in body frame in any direction, thus allowing the control of position and orientation independently. Therefore, they are best suited for dexterous tasks, physical interaction, and for carrying aerial manipulators, because they do not suffer from the underactuation of standard collinear multirotors. The chapter includes a rigorous classification, a discussion on the possible input coupling, and on the capabilities and pitfalls of inverse-dynamics control approach for such platforms.

Citation Key2019c-Fra
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