Naslov
Modeling and Control of MM-UAV: Mobile Manipulating Unmanned Aerial Vehicle

Autori
Orsag, Matko ; Korpela, Christopher ; Oh, Paul

Izvornik
Journal of intelligent & robotic systems (0921-0296) 69 (2012), 1/4; 227-240

Vrsta, podvrsta i kategorija rada
Radovi u časopisima, članak, znanstveni

Ključne riječi
UAV; mobile manipulation; dexterous manipulation
(UAV; mobile manipulation; dDexterous manipulation)

Sažetak
Compared to autonomous ground vehicles, UAVs (unmanned aerial vehicles) have significant mobility advantages and the potential to operate in otherwise unreachable locations. Micro UAVs still suffer from one major drawback: they do not have the necessary payload capabilities to support high performance arms. This paper, however, investigates the key challenges in controlling a mobile manipulating UAV using a commercially available aircraft and a light-weight prototype 3- arm manipulator. Because of the overall instability of rotorcraft, we use a motion capture system to build an efficient autopilot. Our results indicate that we can accurately model and control our prototype system given significant disturbances when both moving the manipulators and interacting with the ground.

Izvorni jezik
Engleski

Znanstvena područja
Elektrotehnika

POVEZANOST RADA