Abstract
This paper proposes a fully-actuated control method for a novel aerial manipulation system (AMS). A customized carbon frame structure supports the servo actuators, on which eight propellers group into pairs located. We present kinematics and dynamics modeling of the AMS based on Craig parameter method and recursive Newton–Euler equation, respectively. Then, an Active disturbance rejection control (ADRC)—Backstepping—Compensation controller is designed to control the exact position and orientation of the manipulator in the Cartesian space. Finally, the performance of the system is demonstrated through simulations and virtual experiments.
Highlights
This paper proposes a fully-actuated control method for a novel aerial manipulation system (AMS)
A dynamic constraint exists between the aerial platform and the robotic arm
We presented a novel AMS prototype, which consists of four pairs rotors connected to a customized frame under a large angle of inclination
Summary
The rotor can provide propulsion torques and moments in the X and Y directions of the body coordinate system because of which the fully-actuated drive for the aerial platform can be realized. In this system, the robotic arm is designed to have 4 joints to balance flexibility and load capacity. Equations [1]–(7) establish the relationships among the position, attitude, and speed between each link of the manipulator and the aerial platform in the coordinate system. 0 A is the out A is a vector representation inertial tensor of the aerial platform arm that acts on relative to {W}. The equation set can be solved by taking the second-order term as a variable and the other parameters as constants
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