Dynamics and control of an Unmanned Aerial Vehicle employing a delta-manipulator

Γκούντας, Κωνσταντίνος; Ntekoumes, Georgios; Tzes, Anthony

doi:10.1109/med.2017.7984282

Cited by 2 publications

(1 citation statement)

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“…In [8], the coupled model of a UAV with a manipulator is examined. The movement, though, of the manipulator significantly affects the aerial system's center of mass (CoM), and, thus, in [9], [10] parallel structure manipulators are used in order to minimize the reaction forces/torques and improve the overall stiffness. In [11], a new manipulation system is proposed where a continuum robotic arm is used for cluttered environments.…”

Section: Introductionmentioning

confidence: 99%

Leader/Follower Force Control of Aerial Manipulators

Γκούντας

Tzes

2021

IEEE Access

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This article focuses on the modeling and controlling of Unmanned Aerial Manipulators (UAMs) in a leader/follower configuration performing a cooperative manipulation task. Each UAM consists of an Unmanned Aerial Vehicle (UAV) with an attached serial-link robotic manipulator. The Recursive Newton-Euler dynamics formulation is employed to account for the interaction between the UAV and its manipulator. The overall system consists of a couple UAMs with a carrying load. The coupling between these systems is due to the exerted forces by their manipulators through the object characterized by its stiffness matrix. A leader/follower control scheme is employed with a stabilityanalysis tailored to the UAM-pair. The leader UAM defines the trajectory of the moving object while the follower acts so as to reduce the system's internal reaction forces. Simulation studies are employed to validate the controller's performance while comparing the system's response against that derived from a classical nonlinear tracking controller.

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