Stability control in aerial manipulation (CROSBI ID 604661)
Prilog sa skupa u zborniku | izvorni znanstveni rad | međunarodna recenzija
Podaci o odgovornosti
Orsag, Matko ; Korpela, Christopher ; Pekala, Miles ; Oh, Paul
engleski
Stability control in aerial manipulation
Aerial manipulation, grasping, and perching in small unmanned aerial vehicles (UAVs) require specific control systems to compensate for changing inertial properties. Grasped objects, external forces from terrain objects, or manipulator movements themselves may destabilize or otherwise alter the flight characteristics of small UAVs during operation resulting in undesirable outcomes. Traditional control methods that assume static mass and inertial properties must be modified to produce stable control of a quadrotor system. This paper presents work towards a control scheme to achieve dynamic stability of an aerial vehicle while under the influence of manipulators and grasped objects. A quadrotor with attached multi-degree of freedom manipulators is implemented in simulation and constructed for testing. Compensation of the inertial changes due to in-flight manipulator movements is investigated. A control scheme is developed and results are presented.
dexterous manipulators; stability; aerial manipulation
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Podaci o prilogu
5581-5586.
2013.
objavljeno
Podaci o matičnoj publikaciji
In Proc. of American Control Conference (ACC), 2013
Institute of Electrical and Electronics Engineers (IEEE)
Podaci o skupu
American Control Conference (ACC), 2013
predavanje
17.06.2013-19.06.2013
Washington D.C., Sjedinjene Američke Države