This article deals with aerial manipulators consisting of unmanned helicopters equipped with robotic multi-link arms. This setup has strong potentialities for structure assembly and manipulation tasks, which makes it a valuable resource in outdoor industrial environments. The article presents an elaborate model of the entire system as well as methods for controlling the aerial platform taking into account the motion of the arm. The article presents the design and implementation of a Variable Parameter Integral Backstepping controller which clearly outperforms the results obtained with the standard helicopter controller. Realistic characterization of system sensors has been also accounted for. Simulations experiments confirm the validity of the proposed approach, and the results are also validated with a high-fidelity Modelica simulation model.


    Access

    Access via TIB

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Modelling and control of an aerial manipulator consisting of an autonomous helicopter equipped with a multi-link robotic arm




    Publication date :

    2016




    Type of media :

    Article (Journal)


    Type of material :

    Print


    Language :

    English



    Classification :

    BKL:    55.50 Luftfahrzeugtechnik / 55.60 Raumfahrttechnik
    Local classification TIB:    275/7040





    Development of a Two Link Robotic Manipulator

    Olaoluwa D. Aladetola / Francis K. Akingbade / Najeem O. Adelakun | BASE | 2020

    Free access

    Autonomous balance control method for unmanned aerial vehicle carrying manipulator

    ZHANG YUJIANG / HUANG ZHENGZONG / WANG XUEYAN et al. | European Patent Office | 2021

    Free access