Studying the Disturbances of Robotic Arm Movement in Space Using the Compound-Pendulum Method

Issa, Ibrahim; Akkad, M. Aiman Al

doi:10.22213/2413-1172-2017-2-156-159

Cited by 4 publications

(3 citation statements)

References 2 publications

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“…A simplified kinematics model of a UAV flying in a three-dimensional airspace is of interest. So, the UAV is considered as a point in a 3D space, and its translational and angular states at time t are defined in [23][24][25] as follow:…”

Section: Uav Equations Of Motionmentioning

confidence: 99%

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Collision free 3D navigation algorithms and their implementation in an autonomous flying robot

Ibrahim¹,

Karam²,

Akkad³

2018

Instrumentation Engineering, Electronics and Telecommunications

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In this paper, a method for collision-free three-dimensional autonomous navigation of an underactuated coupled non-holonomic unmanned aerial vehicle (UAV) among obstacles was proposed. This method will be the basis for designing a planner for the UAV trajectory guidance in a 3D cluttered environment. The planner assumes that the cost of flying over an area is independent of the path through which the UAV reaches that area, however this is not always true. Moreover, the path problem is not formulated as a matter of numeric cost minimization to be solved by methods like dynamic programming, which is time-consuming. A dynamic model of six degrees of freedom hexacopter equipped with a robotic arm has been formulated using Newton-Euler's method. Then, the equations of motion of the UAV are derived by including disturbances analysis. The derived dynamic model reflects the real motion of the hexacopter with respect to the earth, which is also characterized by nonlinearity, time variance, underactuation and coupling among the equations' variables. This paper suggests bio-inspired and sample-based algorithms in order to solve and optimize the threedimensional path-planning problem. A unique real-time obstacle avoidance approach based on artificial potential field concept in addition to an off-line genetic algorithm were investigated.

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Section: Uav Equations Of Motionmentioning

confidence: 99%

“…"Instrumentation Engineering, Electronics and Telecommunications -2017" Proceedings of the International Forum (Izhevsk, Russia, November[22][23][24] 2017) …”

mentioning

confidence: 99%

Collision free 3D navigation algorithms and their implementation in an autonomous flying robot

Ibrahim¹,

Karam²,

Akkad³

2018

Instrumentation Engineering, Electronics and Telecommunications

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show abstract

“…In this work, in order to solve the IK of a mobile manipulator the MSFLA algorithm is proposed, which is accurate and has fast convergence in discovering the solution [25], and as an extension of our work in [26] [27][28] [29]. Initially, we define an objective function to minimize the error between the desired and the actual end-effector pose.…”

Section: Introductionmentioning

confidence: 99%

The investigation of trajectory control for an anthropomorphic manipulator attached to a vehicle

Ibrahim¹,

Akkad²

2019

Instrumentation Engineering, Electronics and Telecommunications

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This paper concentrates on deriving an inverse kinematics solution of a manipulator attached to an aerial vehicle for real-time applications. Analyzing the vehicle's movement itself is not considered. The kinematics solution using Denavit-Hartenberg model was introduced. Adopting the resulted forward kinematics equations of the manipulator, the trajectory planning problem turns into an optimization task. For solving constrained complicated nonlinear functions, shuffled frog leaping search algorithm is suggested to get a global online solution of the design configurations with a weighted objective function subject to some constraints. It is a constrained metaheuristic and population-based approach. Moreover, it is able to solve the inverse kinematics problem considering the mobile platform, in addition to avoiding singularities, since it does not demand the inversion of a Jacobian matrix. Simulation experiments have been carried out for the trajectory planning of a six degree of freedom aerial manipulator, and the obtained results confirmed the feasibility and effectiveness of the suggested method.

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UAV efficient PID and LQR controllers design based on its stochastic state space dynamics model including disturbances

Ibrahim

Akkad

Abramov

2018

2018 Moscow Workshop on Electronic and Networking Technologies (MWENT)

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Studying the Disturbances of Robotic Arm Movement in Space Using the Compound-Pendulum Method

Cited by 4 publications

References 2 publications

Collision free 3D navigation algorithms and their implementation in an autonomous flying robot

Collision free 3D navigation algorithms and their implementation in an autonomous flying robot

The investigation of trajectory control for an anthropomorphic manipulator attached to a vehicle

UAV efficient PID and LQR controllers design based on its stochastic state space dynamics model including disturbances

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