Computed Torque Control of an Aerial Manipulation System with a Quadrotor and a 2-DOF Robotic Arm

被引：2

作者：

Bulut, Nebi ^{[1
]}

Turgut, Ali Emre ^{[1
]}

Arikan, Kutluk Bilge ^{[2
]}

机构：

[1] Middle East Tech Univ, Dept Mech Engn, Ankara, Turkey

[2] TED Univ, Dept Mech Engn, Ankara, Turkey

来源：

ICINCO: PROCEEDINGS OF THE 16TH INTERNATIONAL CONFERENCE ON INFORMATICS IN CONTROL, AUTOMATION AND ROBOTICS, VOL 2 | 2019年

关键词：

Aerial Manipulation; Computed Torque Control; Gain Optimization; Robotics; Quadrotor;

D O I：

10.5220/0007965505100517

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper presents the control of an aerial manipulation system with a quadrotor and a 2-DOF robotic arm by using the computed torque control method. The kinematic and dynamic model of the system is obtained by modeling the quadrotor and the robotic arm as a unified system. Then, the equation of motion of the unified system is got in the form of a standard robot dynamics equation. For the trajectory control of the system, computed torque control is used. Gains of the controller are optimized by using nonlinear least squares method. The performance and stability of the control structure are tested with a simulation case study.

引用

页码：510 / 517

页数：8

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