Abstract
An innovative aerial manipulator with ducted fans is proposed to achieve side-on aerial manipulation tasks in a confined environment, such as canopy sampling in dense forests. The dynamic model of the novel design is studied, and on this basis a composite controller is proposed to address the challenges of arm extension and physical interaction during the manipulation process. An adaptive controller is proposed for the aerial platform to achieve good stability and tracking performance under the manipulator motion, and an impedance controller is designed for the manipulator to ensure compliance and stability during physical contact. The experimental tests validate the effectiveness of the proposed prototype structure and controller design.
Highlights
The application of an unmanned aerial vehicle (UAV) has become more and more extensive.The information interaction between a UAV and the environment has been unable to meet the increasing requirements
Figure aerial manipulator, which is mainly composed of of four parts: ducted coaxial rotor systems, of rudder systems set below the ducts, a 3four parts: twotwo ducted coaxial rotor systems, two two sets sets of rudder systems set below the ducts, a 3-DOF
The results show that the system with adaptive controller had good tracking performance, and the tracking accuracy could be guaranteed even when the manipulator moved in a large range
Summary
Figure11shows showsthe theproposed proposedtandem tandemducted ductedfan fan aerial manipulator, which is mainly composed. Figure aerial manipulator, which is mainly composed of of four parts: ducted coaxial rotor systems, of rudder systems set below the ducts, a 3four parts: twotwo ducted coaxial rotor systems, two two sets sets of rudder systems set below the ducts, a 3-DOF. DOF manipulator, and the control and power system. 5.5and kg, and manipulator, and the control and power system. The weight of theofproposed robotrobot is 5.5iskg, the the maximum grasping weight. Parameters of the aerial vehicle prototype given maximum grasping weight is 0.5iskg. TheThe keykey parameters of the aerial vehicle prototype areare given in in Table
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