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Mechanical design, modelling and control of a novel aerial manipulator
Control Systems Lab, Department of Mechanical Engineering, National Technical University of Athens, 9 Heroon Polytechniou Street, Zografou 15780, Greece.ORCID iD: 0000-0002-8696-1536
Control Systems Lab, Department of Mechanical Engineering, National Technical University of Athens, 9 Heroon Polytechniou Street, Zografou 15780, Greece.
Control Systems Lab, Department of Mechanical Engineering, National Technical University of Athens, 9 Heroon Polytechniou Street, Zografou 15780, Greece.
2015 (English)Conference paper, Published paper (Other academic)
Abstract [en]

In this paper a novel aerial manipulation system is proposed. The mechanical structure of the system, the number of thrusters and their geometry will be derived from technical optimization problems. The aforementioned problems are defined by taking into consideration the desired actuation forces and torques applied to the end-effector of the system. The framework of the proposed system is designed in a CAD Package in order to evaluate the system parameter values. Following this, the kinematic and dynamic models are developed and an adaptive backstepping controller is designed aiming to control the exact position and orientation of the end-effector in the Cartesian space. Finally, the performance of the system is demonstrated through a simulation study, where a manipulation task scenario is investigated.

Place, publisher, year, edition, pages
2015.
National Category
Engineering and Technology
Identifiers
URN: urn:nbn:se:kth:diva-264983DOI: 10.1109/ICRA.2015.7139851Scopus ID: 2-s2.0-84938279791OAI: oai:DiVA.org:kth-264983DiVA, id: diva2:1376341
Conference
International Conference on Robotics and Automation (ICRA), p.4698-4703, Seattle, USA, May 2015.
Available from: 2019-12-09 Created: 2019-12-09 Last updated: 2019-12-16Bibliographically approved

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fulltext(560 kB)10 downloads
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CiteExportLink to record
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Citation style
  • apa
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
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Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
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Output format
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