Design and control of a compact aerial manipulation system with a Delta-type parallel robot
Barsi Haberfeld, Gabriel
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https://hdl.handle.net/2142/99349
Description
Title
Design and control of a compact aerial manipulation system with a Delta-type parallel robot
Author(s)
Barsi Haberfeld, Gabriel
Issue Date
2017-12-05
Director of Research (if dissertation) or Advisor (if thesis)
Hovakimyan, Naira
Department of Study
Mechanical Sci & Engineering
Discipline
Mechanical Engineering
Degree Granting Institution
University of Illinois at Urbana-Champaign
Degree Name
M.S.
Degree Level
Thesis
Keyword(s)
Robotics
Dynamics
Quadrotor
Robust adaptive control
Optimal trajectory generation
Abstract
This thesis presents the design, modeling, and control of a quadcopter equipped with a Delta-type parallel manipulator. Such systems present demanding challenges in both control theory and task planning, which are addressed with novel mechanical features, modern flight controllers, and optimal trajectory generation. They are primarily designed for versatile indoor pick-and-place tasks where the characteristics of the proposed solution introduce useful kinematic properties. We explore these traits to address critical deficiencies found in previous approaches.
First, we introduce and discuss the mechanical design of the coupled system. Second, we derive the kinematics and dynamic relationships between all bodies. Third, we develop the flight controller, where baseline, feedforward, and adaptive components are combined and used in unison with an optimal trajectory generation algorithm. Finally, we present simulation results which reflect the feasibility of the concepts.
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