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Computed Torque Control of an Aerial Manipulation System with a Quadrotor and a 2-DOF Robotic Arm
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ICINCO_2019_185.pdf
Date
2019
Author
Bulut, Nebi
Turgut, Ali
Aríkan, Kutluk
Metadata
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This work is licensed under a
Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International License
.
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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.
Subject Keywords
Aerial Manipulation
,
Computed Torque Control
,
Gain Optimization
,
Robotics
,
Quadrotor
URI
https://hdl.handle.net/11511/58146
Journal
Proceedings of the 16th International Conference on Informatics in Control, Automation and Robotics
DOI
https://doi.org/10.5220/0007965505100517
Collections
Department of Mechanical Engineering, Conference / Seminar