We consider the following two problems to enable a quadrotor to operate a mechanical tool (e.g., screwdriver, vertical jack, etc), which is rigidly-attached on the quadrotor and whose control, different to other quadrotor motion control results, demands an integrated and simultaneous control of the quadrotor’s translation and rotation: 1) tool-tip position trajectory tracking control; and 2) tool rotating operation control with the tool-tip position regulated. We characterize some structural conditions for generating any arbitrary desired control for the tool-tip position and also for avoiding internal dynamics instability (with possible finite-time escape). Simulations are performed to support the theory.

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