UAV equipped with a robotic manipulator

Author

Bazylev, Dmitry ; Margun, Alexey ; Zimenko, Konstantin ; Kremlev, Artem

Author_Institution

Fac. of Comput. Technol. & Control, ITMO Univ., St. Petersburg, Russia

fYear

2014

fDate

16-19 June 2014

Firstpage

1177

Lastpage

1182

Abstract

The aim of this article is design and control system developing of multirotational UAV equipped with a robotic manipulator. As a combined model of the robot a quadrocopter and a two-link manipulator were chosen. The mathematical model of this robot, its dynamic equations and problem of trajectory tracking are described in this paper. Mutual reactive influence of the robotic manipulator and the UAV is considered. The main result of this paper is development of the control system of this robot based on feedback linearization, PD-controller and compensation of the robotic manipulator disturbing effects.

Keywords

PD control; autonomous aerial vehicles; compensation; feedback; linear systems; manipulator dynamics; trajectory control; PD-controller; compensation; dynamic equations; feedback linearization; mathematical model; multirotational UAV; mutual reactive influence; quadrocopter; robotic manipulator disturbing effects; trajectory tracking; two-link manipulator; Equations; Manipulator dynamics; Mathematical model; Trajectory; Vehicle dynamics;

fLanguage

English

Publisher

ieee

Conference_Titel

Control and Automation (MED), 2014 22nd Mediterranean Conference of

Conference_Location

Palermo

Print_ISBN

978-1-4799-5900-6

Type

conf

DOI

10.1109/MED.2014.6961535

Filename

6961535