Dynamics and control of an Unmanned Aerial Vehicle employing a delta-manipulator

Konstantinos Gkountas, Georgios Ntekoumes, Antonios Tzes

    Research output: Chapter in Book/Report/Conference proceedingConference contribution

    Abstract

    The development of a dynamic model for control purposes of an Unmanned Aerial Vehicle (UAV) carrying a delta-manipulator for force exertion is the subject of this article. The floating base of the manipulator due to its attachment to the UAV dictates the need to account for the transfer of the reaction force and torque vector from the manipulator's base to the UAV, and in a reverse manner, the transfer of the translational and angular velocity and acceleration vector from the UAV to the manipulator. The nature of the closed-kinematic chain of the delta-manipulator necessitates its dynamics approximation by three single Degree of Freedom arms which are kinematically-constrained thru its moving platform. The controller for the arm relies on a computed-torque framework, while the UAV's PD-controller accounts for the instantaneous displacement of the manipulator's center-of-gravity with respect to its aerodynamic point of pressure. Gazebo-based simulation studies are provided to demonstrate the effectiveness of the suggested control scheme.

    Original languageEnglish (US)
    Title of host publication2017 25th Mediterranean Conference on Control and Automation, MED 2017
    PublisherInstitute of Electrical and Electronics Engineers Inc.
    Pages1207-1212
    Number of pages6
    ISBN (Electronic)9781509045334
    DOIs
    StatePublished - Jul 18 2017
    Event25th Mediterranean Conference on Control and Automation, MED 2017 - Valletta, Malta
    Duration: Jul 3 2017Jul 6 2017

    Other

    Other25th Mediterranean Conference on Control and Automation, MED 2017
    CountryMalta
    CityValletta
    Period7/3/177/6/17

    Fingerprint

    Unmanned aerial vehicles (UAV)
    Manipulator
    Manipulators
    Torque
    Angular acceleration
    Controller
    Controllers
    Centre of gravity
    Degrees of freedom (mechanics)
    Angular velocity
    Aerodynamics
    Instantaneous
    Reverse
    Dynamic models
    Kinematics
    Dynamic Model
    Gravitation
    Degree of freedom
    Simulation Study
    Closed

    ASJC Scopus subject areas

    • Control and Optimization
    • Modeling and Simulation

    Cite this

    Gkountas, K., Ntekoumes, G., & Tzes, A. (2017). Dynamics and control of an Unmanned Aerial Vehicle employing a delta-manipulator. In 2017 25th Mediterranean Conference on Control and Automation, MED 2017 (pp. 1207-1212). [7984282] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/MED.2017.7984282

    Dynamics and control of an Unmanned Aerial Vehicle employing a delta-manipulator. / Gkountas, Konstantinos; Ntekoumes, Georgios; Tzes, Antonios.

    2017 25th Mediterranean Conference on Control and Automation, MED 2017. Institute of Electrical and Electronics Engineers Inc., 2017. p. 1207-1212 7984282.

    Research output: Chapter in Book/Report/Conference proceedingConference contribution

    Gkountas, K, Ntekoumes, G & Tzes, A 2017, Dynamics and control of an Unmanned Aerial Vehicle employing a delta-manipulator. in 2017 25th Mediterranean Conference on Control and Automation, MED 2017., 7984282, Institute of Electrical and Electronics Engineers Inc., pp. 1207-1212, 25th Mediterranean Conference on Control and Automation, MED 2017, Valletta, Malta, 7/3/17. https://doi.org/10.1109/MED.2017.7984282
    Gkountas K, Ntekoumes G, Tzes A. Dynamics and control of an Unmanned Aerial Vehicle employing a delta-manipulator. In 2017 25th Mediterranean Conference on Control and Automation, MED 2017. Institute of Electrical and Electronics Engineers Inc. 2017. p. 1207-1212. 7984282 https://doi.org/10.1109/MED.2017.7984282
    Gkountas, Konstantinos ; Ntekoumes, Georgios ; Tzes, Antonios. / Dynamics and control of an Unmanned Aerial Vehicle employing a delta-manipulator. 2017 25th Mediterranean Conference on Control and Automation, MED 2017. Institute of Electrical and Electronics Engineers Inc., 2017. pp. 1207-1212
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