Title :
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
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;
Conference_Titel :
Control and Automation (MED), 2014 22nd Mediterranean Conference of
Conference_Location :
Palermo
Print_ISBN :
978-1-4799-5900-6
DOI :
10.1109/MED.2014.6961535
