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Task-space Control of an Unmanned Helicopter Equipped with a 7-DoF Robot Arm

Beck, Fabian (2017) Task-space Control of an Unmanned Helicopter Equipped with a 7-DoF Robot Arm. Master's. DLR-Interner Bericht. DLR-IB-RM-OP-2017-270, 102 S. (Unpublished)

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Aerial manipulation is generally defined as the grasping, transporting, positioning, and assembly or disassembly of mechanical parts and objects, performed by UAV with a robotic arm. Such types of systems can for instance be used for inspection and maintenance tasks in areas which are inaccessible or potentially hazardous for humans. A dynamic aerial vehicle equipped with a robotic manipulator is a challenging control problem due to the high dynamical coupling between both subsystems. In order to achieve highly dynamic behaviors while enabling precise task-space tracking of the manipulator, this coupling has to be taken into account in the control design. Starting from input-output linearization it is discovered that many outputs are not differentially flat and result in an unstable internal dynamics. By applying a passive decomposition to the system, an interesting underlying structure of the underactuated nonlinear system is revealed, which facilitates the control design. Based on this transformation a control law is proposed, which guarantees task-space (e.g. end-effector) reference tracking and position trajectory control of the overall system. The proposed approach is verified in numerical simulation. In order to analyze if the model based control law is suitable for practical implementation, a more detailed dynamics including unmodeled effects is used in the simulation.

Item URL in elib:https://elib.dlr.de/117196/
Document Type:Monograph (DLR-Interner Bericht, Master's)
Title:Task-space Control of an Unmanned Helicopter Equipped with a 7-DoF Robot Arm
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Beck, FabianFabian.Beck (at) dlr.deUNSPECIFIED
Date:30 November 2017
Refereed publication:No
Open Access:No
Gold Open Access:No
In ISI Web of Science:No
Number of Pages:102
Keywords:nonlinear control, inertial decoupling transformation, passive decomposition, joint space decomposition
Institution:Technische Universität Ilmenau
Department:Computer Science and Automation Department
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Technik für Raumfahrtsysteme
DLR - Research theme (Project):R - Vorhaben Terrestrische Assistenz-Robotik
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Analysis and Control of Advanced Robotic Systems
Deposited By: Beck, Fabian
Deposited On:14 Dec 2017 17:46
Last Modified:14 Dec 2017 17:46

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