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On the Design, Modeling and Control of a Novel Compact Aerial Manipulator
Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Signals and Systems.
Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Signals and Systems.ORCID iD: 0000-0002-2001-7171
Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Signals and Systems.
Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Signals and Systems.ORCID iD: 0000-0002-9399-7801
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Number of Authors: 72016 (English)In: 24th Mediterranean Conference on Control and Automation, MED 2016, Piscataway, NJ: IEEE Communications Society, 2016, p. 665-670, article id 7536029Conference paper, Published paper (Refereed)
Abstract [en]

The aim of this article is to present a novel fourdegree-of-freedom aerial manipulator allowing a multirotorUnmanned Aerial Vehicle (UAV) to physically interact with theenvironment. The proposed design, named CARMA (CompactAeRial MAnipulator), is characterized by low disturbances onthe UAV flight dynamics, extended workspace (with regard toits retracted configuration) and fast dynamics (compared to theUAV dynamics). The dynamic model is formulated and a controlstructure consisting of an inverse kinematics algorithm and independentjoint position controllers is presented. Furthermore,the design specifications of the prototype are analyzed in detail,while experimental evaluations are conducted for the extractionof the manipulator’s workspace and the evaluation of system’stracking capabilities over pick-and-place trajectories. Finally,it is shown that the selected joint position sensors, combinedwith the derived inverse dynamic algorithm allow to determinethe wrenches exerted at the base, due to swift motions of thearm.

Place, publisher, year, edition, pages
Piscataway, NJ: IEEE Communications Society, 2016. p. 665-670, article id 7536029
Series
Mediterranean Conference on Control and Automation, E-ISSN 2325-369X
Keywords [en]
Information technology - Automatic control
Keywords [sv]
Informationsteknik - Reglerteknik
National Category
Control Engineering
Research subject
Control Engineering
Identifiers
URN: urn:nbn:se:ltu:diva-32790DOI: 10.1109/MED.2016.7536029ISI: 000391154900111Scopus ID: 2-s2.0-84986220639Local ID: 7644a07e-7280-4025-abe6-f25abf0a9680ISBN: 978-1-4673-8345-5 (electronic)OAI: oai:DiVA.org:ltu-32790DiVA, id: diva2:1006024
Conference
24th Mediterranean Conference on Control and Automation, June 21-24, Athens, Greece, 2016
Projects
Collaborative Aerial Robotic Workers, AEROWORKS
Funder
EU, Horizon 2020, 644128Available from: 2016-09-30 Created: 2016-09-30 Last updated: 2018-06-11Bibliographically approved

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Wuthier, DavidKominiak, DariuszKanellakis, ChristoforosAndrikopoulos, GeorgiosNikolakopoulos, George

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