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Heterogeneous Collaborative Aerial Manipulation
KTH, School of Electrical Engineering and Computer Science (EECS), Automatic Control.
2017 (English)Independent thesis Advanced level (degree of Master (Two Years)), 20 credits / 30 HE creditsStudent thesis
Abstract [en]

Unmanned Vehicles are a fast-growing area of robotics due to theirvast application scenarios and ability to perform tasks otherwise impossible.A particular branch, Unmanned Aerial Vehicles, specificallymultirotors, as seen an increasing interest in research due to their mechanicalsimplicity and agility.Within AEROWORKS, UAVs are explored as aerial workers, capableof doing autonomous reconstruction of structures and transportationof payloads. This works targets heterogeneous collaborative aerialmanipulation, in which two different vehicles are used with two differentmanipulation capabilities - a manipulator and a tether - to transporta rod-like object.We consider two cases, one where the manipulator is free of actuation,and another where the manipulator is locked. Each UAV has aPID controller which gains are calculated through a linearization procedureof the system, and such that they guarantee exponential stability.Experiments provide an insight into the modeled transportationscenario and show that our controller is capable of stabilizing the system.

Abstract [sv]

Obemannade fordon är en växande teknik inom robotik på groundav att den kan tillämpas på många områden och uföra uppgifter somtidigare varit omöjliga. En specifik gren är obemannade flygfordon,UAV (Unmanned Aerial Vehicles). Intresset för multirotorer har ökateftersom de har en enkel och smidig konstruktion.Inom AEROWORKS, utforskas att använda UAVs som arbetareoch autonomt utföra uppgifter som att rekonstruera strukturer samttransportera object. Detta arbete inriktar sig mot att manipulera objektmed flera samarbetande drönare med som har olika förmågor att manipuleraobjekt. Två fordon där den ena är utrustad med en robotarmoch den andra en tjudra för att transportera ett stav liknande objekt.Två olika fall undersöks, dels då armen är låst samt då armen tillåtsatt röra sig. Varje UAV har en PID regulator. Förstärkningen beräknasgenom att linearisera systemet så att stabilitet garanteras. En inblicki det modelerade transportscenariot ges med experiment och vi visaratt vår regulator stabiliserar systemet.

Place, publisher, year, edition, pages
2017. , p. 71
Series
TRITA-EE, ISSN 1653-5146 ; 2017:183
National Category
Electrical Engineering, Electronic Engineering, Information Engineering
Identifiers
URN: urn:nbn:se:kth:diva-221799OAI: oai:DiVA.org:kth-221799DiVA, id: diva2:1177557
Educational program
Master of Science - Systems, Control and Robotics
Available from: 2018-01-25 Created: 2018-01-25 Last updated: 2018-01-25Bibliographically approved

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CiteExportLink to record
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