Force control design for a robot manipulator attached to a UAV

Konstantinos Gkountas, Dimitris Chaikalis, Antonios Tzes

    Research output: Contribution to journalArticle

    Abstract

    This article focuses on the modeling and control of an Unmanned Aerial Vehicle (UAV) while applying forces to its surrounding environment using a manipulator. The manipulator is attached beneath the UAV. The derived mathematical model of the UAV carrying the manipulator, relies on the application of the Newton-Euler equations. Model-based controllers are designed, in order to stabilize the UAV while maintaining the contact with its surrounding environment and applying forces to it. The objective is to keep the end effector of the manipulator as close as possible to a desired point while at the same time exerting forces to it. Simulation studies using a quadrotor and a two Degree of Freedom (DoF) planar manipulator are provided to demonstrate the effectiveness of the proposed control scheme.

    Original languageEnglish (US)
    Pages (from-to)548-553
    Number of pages6
    JournalIFAC-PapersOnLine
    Volume51
    Issue number30
    DOIs
    StatePublished - Jan 1 2018

    Fingerprint

    Force control
    Unmanned aerial vehicles (UAV)
    Manipulators
    Robots
    Euler equations
    End effectors
    Mathematical models
    Controllers

    Keywords

    • Floating base Manipulator
    • Force Control
    • Unmanned Aerial Systems

    ASJC Scopus subject areas

    • Control and Systems Engineering

    Cite this

    Force control design for a robot manipulator attached to a UAV. / Gkountas, Konstantinos; Chaikalis, Dimitris; Tzes, Antonios.

    In: IFAC-PapersOnLine, Vol. 51, No. 30, 01.01.2018, p. 548-553.

    Research output: Contribution to journalArticle

    Gkountas, Konstantinos ; Chaikalis, Dimitris ; Tzes, Antonios. / Force control design for a robot manipulator attached to a UAV. In: IFAC-PapersOnLine. 2018 ; Vol. 51, No. 30. pp. 548-553.
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