Analysis of a quadcopter manipulator operating in a workspace above the altitude of the aerial vehicle

Sumathy, V and Ghose, D and Omkar, SN (2018) Analysis of a quadcopter manipulator operating in a workspace above the altitude of the aerial vehicle. In: AIAA Guidance, Navigation, and Control Conference, 2018, 8 - 12 January 2018, Kissimmee.

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Abstract

In this paper, we consider a robotic arm attached to the bottom of an aerial vehicle which can be used for tasks involving target points at a level higher than the vehicle’s position. We present the modeling and analysis of a 2R planar manipulator attached to the base of quadcopter for the above application. The model of the aerial manipulator is developed using Euler-Lagrange approach. The payload is considered as a point mass and included in the dynamics, in order to study the effect of payload on the system. For the arm to move above the horizontal plane of the vehicle, the physical parameters like length and joint angles of the links are constrained by the rotor blades and its aerodynamic effects. A design strategy for the parameters of the manipulator, to overcome this issue, is proposed in this work. Finally, a feedback linaerization controller with proportional derivative controller with gain scheduling is designed.

Item Type:	Conference Paper
Publication:	AIAA Guidance, Navigation, and Control Conference, 2018
Publisher:	American Institute of Aeronautics and Astronautics Inc, AIAA
Additional Information:	The copyright for this article belongs to the American Institute of Aeronautics and Astronautics Inc, AIAA.
Keywords:	Aviation; Controllers; Manipulators; Navigation; Turbomachine blades; Vehicles, Aerodynamic effect; Design strategies; Euler-Lagrange; Gain Scheduling; Model and analysis; Physical parameters; Planar manipulator; Proportional-derivative controllers, Antennas
Department/Centre:	Division of Mechanical Sciences > Aerospace Engineering(Formerly Aeronautical Engineering)
Date Deposited:	24 Aug 2022 05:39
Last Modified:	24 Aug 2022 05:39
URI:	https://eprints.iisc.ac.in/id/eprint/76089

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