Stabilization and Optimal Trajectory Generation for a Compact Aerial Manipulation System with a Delta-type Parallel Robot

Gabriel Barsi Haberfeld, Donglei Sun, Naira Hovakimyan

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

Abstract

This paper 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 kinematic and dynamic relationships between all bodies. Third, we develop the flight controller, where the 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.

Original languageEnglish (US)
Title of host publication2018 International Conference on Unmanned Aircraft Systems, ICUAS 2018
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages1091-1100
Number of pages10
ISBN (Print)9781538613535
DOIs
StatePublished - Aug 31 2018
Event2018 International Conference on Unmanned Aircraft Systems, ICUAS 2018 - Dallas, United States
Duration: Jun 12 2018Jun 15 2018

Publication series

Name2018 International Conference on Unmanned Aircraft Systems, ICUAS 2018

Other

Other2018 International Conference on Unmanned Aircraft Systems, ICUAS 2018
CountryUnited States
CityDallas
Period6/12/186/15/18

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ASJC Scopus subject areas

  • Aerospace Engineering
  • Control and Optimization

Cite this

Haberfeld, G. B., Sun, D., & Hovakimyan, N. (2018). Stabilization and Optimal Trajectory Generation for a Compact Aerial Manipulation System with a Delta-type Parallel Robot. In 2018 International Conference on Unmanned Aircraft Systems, ICUAS 2018 (pp. 1091-1100). [8453444] (2018 International Conference on Unmanned Aircraft Systems, ICUAS 2018). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICUAS.2018.8453444