Salvato in:
| Autore principale: | |
|---|---|
| Natura: | Preprint |
| Pubblicazione: |
2019
|
| Soggetti: | |
| Accesso online: | https://arxiv.org/abs/1904.08498 |
| Tags: |
Aggiungi Tag
Nessun Tag, puoi essere il primo ad aggiungerne!!
|
| _version_ | 1866908519196786688 |
|---|---|
| author | Khalifa, Ahmed |
| author_facet | Khalifa, Ahmed |
| contents | The previously introduced aerial manipulation systems suffer from either limited end-effector DOF or small payload capacity. In this dissertation, a quadrotor with a 2-DOF manipulator is investigated that has a unique topology to enable the end-effector to track 6-DOF trajectory with the minimum possible number of actuators/links and hence, maximize the payload and/or mission time. The proposed system is designed, modeled, and constructed. An identification process is carried out to find the system parameters. An experimental setup is proposed with a 6-DOF state measurement and estimation scheme. The system feasibility is validated via numerical and experimental results. The inverse kinematics require a solution of complicated algebraic-differential equations. Therefore, an algorithm is developed to get an approximate solution of these equations. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_1904_08498 |
| institution | arXiv |
| publishDate | 2019 |
| record_format | arxiv |
| spellingShingle | Controller Design and Implementation of a New Quadrotor Manipulation System Khalifa, Ahmed Robotics The previously introduced aerial manipulation systems suffer from either limited end-effector DOF or small payload capacity. In this dissertation, a quadrotor with a 2-DOF manipulator is investigated that has a unique topology to enable the end-effector to track 6-DOF trajectory with the minimum possible number of actuators/links and hence, maximize the payload and/or mission time. The proposed system is designed, modeled, and constructed. An identification process is carried out to find the system parameters. An experimental setup is proposed with a 6-DOF state measurement and estimation scheme. The system feasibility is validated via numerical and experimental results. The inverse kinematics require a solution of complicated algebraic-differential equations. Therefore, an algorithm is developed to get an approximate solution of these equations. |
| title | Controller Design and Implementation of a New Quadrotor Manipulation System |
| topic | Robotics |
| url | https://arxiv.org/abs/1904.08498 |