A Truly Redundant Aerial Manipulator exploiting a Multi-directional Thrust Base

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3 Citations (Scopus)

Abstract

We present a novel aerial manipulator concept composed of a fully actuated hexarotor aerial vehicle and an n degree of freedom manipulator. Aiming at interaction tasks, we present a trajectory following control framework for the end-effector of the manipulator. The system is modeled in Euler-Lagrangian formalism and in Denavit-Hartenberg form. Benefiting from the redundancy of the system, we present several cost function strategies based on the projected gradient method to optimize the aerial manipulator behavior. The control framework is based on exact feedback linearization. In an advanced simulation section, we thoroughly present the robustness of the system and its limits in two typical configuration constituted by an 8 and a 10 degrees of freedom redundant aerial manipulator.
Original languageEnglish
Number of pages6
Publication statusPublished - Aug 2018
Externally publishedYes
Event12th International IFAC Symposium on Robot Control, SYROCO 2018 - Budapest, Hungary
Duration: 27 Aug 201830 Aug 2018
Conference number: 12

Conference

Conference12th International IFAC Symposium on Robot Control, SYROCO 2018
Abbreviated titleSYROCO
CountryHungary
CityBudapest
Period27/08/1830/08/18

Keywords

  • Unmanned aerial robots
  • Redundant manipulators
  • Robot kinematics

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