Modeling and Control of MM-UAV: Mobile Manipulating Unmanned Aerial Vehicle

Modeling and Control of MM-UAV: Mobile Manipulating Unmanned Aerial Vehicle

Compared to autonomous ground vehicles, UAVs (unmanned aerial vehicles) have significant mobility advantages and the potential to operate in otherwise unreachable locations. Micro UAVs still suffer from one major drawback: they do not have the necessary payload capabilities to support high performan...

Full description

Saved in:
Bibliographic Details
Published in:Journal of intelligent & robotic systems 2013-01, Vol.69 (1-4), p.227-240
Main Authors: Orsag, Matko, Korpela, Christopher, Oh, Paul
Format: Article
Language:eng
Subjects:
Artificial Intelligence
Automatic pilots
Autonomous
Autopilots
Construction
Control
Electrical Engineering
Engineering
Grounds
Manipulators
Mechanical Engineering
Mechatronics
Prototypes
Robot arms
Robotics
Unmanned aerial vehicles
Online Access:Get full text
Tags: Add Tag
No Tags, Be the first to tag this record!
Description
Summary:Compared to autonomous ground vehicles, UAVs (unmanned aerial vehicles) have significant mobility advantages and the potential to operate in otherwise unreachable locations. Micro UAVs still suffer from one major drawback: they do not have the necessary payload capabilities to support high performance arms. This paper, however, investigates the key challenges in controlling a mobile manipulating UAV using a commercially available aircraft and a light-weight prototype 3-arm manipulator. Because of the overall instability of rotorcraft, we use a motion capture system to build an efficient autopilot. Our results indicate that we can accurately model and control our prototype system given significant disturbances when both moving the manipulators and interacting with the ground.
ISSN:0921-0296
1573-0409