Mechanical design, modelling and control of a novel aerial manipulator

Alexandros Nikou; Georgios C. Gavridis; Kostas J. Kyriakopoulos

doi:10.1109/ICRA.2015.7139851

Mechanical design, modelling and control of a novel aerial manipulator

Alexandros Nikou, Georgios C. Gavridis, Kostas J. Kyriakopoulos

Electrical Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Abstract

In this paper a novel aerial manipulation system is proposed. The mechanical structure of the system, the number of thrusters and their geometry will be derived from technical optimization problems. The aforementioned problems are defined by taking into consideration the desired actuation forces and torques applied to the end-effector of the system. The framework of the proposed system is designed in a CAD Package in order to evaluate the system parameter values. Following this, the kinematic and dynamic models are developed and an adaptive backstepping controller is designed aiming to control the exact position and orientation of the end-effector in the Cartesian space. Finally, the performance of the system is demonstrated through a simulation study, where a manipulation task scenario is investigated.

Original language	English (US)
Title of host publication	2015 IEEE International Conference on Robotics and Automation, ICRA 2015
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	4698-4703
Number of pages	6
Edition	June
ISBN (Electronic)	9781479969234
DOIs	https://doi.org/10.1109/ICRA.2015.7139851
State	Published - Jun 29 2015
Event	2015 IEEE International Conference on Robotics and Automation, ICRA 2015 - Seattle, United States Duration: May 26 2015 → May 30 2015

Publication series

Name	Proceedings - IEEE International Conference on Robotics and Automation
Number	June
Volume	2015-June
ISSN (Print)	1050-4729

Other

Other	2015 IEEE International Conference on Robotics and Automation, ICRA 2015
Country/Territory	United States
City	Seattle
Period	5/26/15 → 5/30/15

ASJC Scopus subject areas

Software
Control and Systems Engineering
Artificial Intelligence
Electrical and Electronic Engineering

Access to Document

10.1109/ICRA.2015.7139851

Cite this

Nikou, A., Gavridis, G. C., & Kyriakopoulos, K. J. (2015). Mechanical design, modelling and control of a novel aerial manipulator. In 2015 IEEE International Conference on Robotics and Automation, ICRA 2015 (June ed., pp. 4698-4703). Article 7139851 (Proceedings - IEEE International Conference on Robotics and Automation; Vol. 2015-June, No. June). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICRA.2015.7139851

Mechanical design, modelling and control of a novel aerial manipulator. / Nikou, Alexandros; Gavridis, Georgios C.; Kyriakopoulos, Kostas J.
2015 IEEE International Conference on Robotics and Automation, ICRA 2015. June. ed. Institute of Electrical and Electronics Engineers Inc., 2015. p. 4698-4703 7139851 (Proceedings - IEEE International Conference on Robotics and Automation; Vol. 2015-June, No. June).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Nikou, A, Gavridis, GC & Kyriakopoulos, KJ 2015, Mechanical design, modelling and control of a novel aerial manipulator. in 2015 IEEE International Conference on Robotics and Automation, ICRA 2015. June edn, 7139851, Proceedings - IEEE International Conference on Robotics and Automation, no. June, vol. 2015-June, Institute of Electrical and Electronics Engineers Inc., pp. 4698-4703, 2015 IEEE International Conference on Robotics and Automation, ICRA 2015, Seattle, United States, 5/26/15. https://doi.org/10.1109/ICRA.2015.7139851

Nikou A, Gavridis GC, Kyriakopoulos KJ. Mechanical design, modelling and control of a novel aerial manipulator. In 2015 IEEE International Conference on Robotics and Automation, ICRA 2015. June ed. Institute of Electrical and Electronics Engineers Inc. 2015. p. 4698-4703. 7139851. (Proceedings - IEEE International Conference on Robotics and Automation; June). doi: 10.1109/ICRA.2015.7139851

Nikou, Alexandros ; Gavridis, Georgios C. ; Kyriakopoulos, Kostas J. / Mechanical design, modelling and control of a novel aerial manipulator. 2015 IEEE International Conference on Robotics and Automation, ICRA 2015. June. ed. Institute of Electrical and Electronics Engineers Inc., 2015. pp. 4698-4703 (Proceedings - IEEE International Conference on Robotics and Automation; June).

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abstract = "In this paper a novel aerial manipulation system is proposed. The mechanical structure of the system, the number of thrusters and their geometry will be derived from technical optimization problems. The aforementioned problems are defined by taking into consideration the desired actuation forces and torques applied to the end-effector of the system. The framework of the proposed system is designed in a CAD Package in order to evaluate the system parameter values. Following this, the kinematic and dynamic models are developed and an adaptive backstepping controller is designed aiming to control the exact position and orientation of the end-effector in the Cartesian space. Finally, the performance of the system is demonstrated through a simulation study, where a manipulation task scenario is investigated.",

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AB - In this paper a novel aerial manipulation system is proposed. The mechanical structure of the system, the number of thrusters and their geometry will be derived from technical optimization problems. The aforementioned problems are defined by taking into consideration the desired actuation forces and torques applied to the end-effector of the system. The framework of the proposed system is designed in a CAD Package in order to evaluate the system parameter values. Following this, the kinematic and dynamic models are developed and an adaptive backstepping controller is designed aiming to control the exact position and orientation of the end-effector in the Cartesian space. Finally, the performance of the system is demonstrated through a simulation study, where a manipulation task scenario is investigated.

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Mechanical design, modelling and control of a novel aerial manipulator

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