Naslov
Stability control in aerial manipulation

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

Vrsta, podvrsta i kategorija rada
Radovi u zbornicima skupova, cjeloviti rad (in extenso), znanstveni

Izvornik
In Proc. of American Control Conference (ACC), 2013 / - : Institute of Electrical and Electronics Engineers (IEEE), 2013, 5581-5586

Skup
American Control Conference (ACC), 2013

Mjesto i datum
Washington D.C., Sjedinjene Američke Države, 17.06.2013. - 19.06.2013

Vrsta sudjelovanja
Predavanje

Vrsta recenzije
Međunarodna recenzija

Ključne riječi
dexterous manipulators; stability; aerial manipulation

Sažetak
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.

Izvorni jezik
Engleski

Znanstvena područja
Elektrotehnika

POVEZANOST RADA