Control of an aerial robot with multi-link arm for assembly tasks

Author

Jimenez-Cano, A.E. ; Martin, J. ; Heredia, G. ; Ollero, A. ; Cano, R.

Author_Institution

Vision & Control Group, Univ. of Seville, Seville, Spain

fYear

2013

fDate

6-10 May 2013

Firstpage

4916

Lastpage

4921

Abstract

This paper deals with aerial manipulators consisting of an unmanned aerial vehicle equipped with a robotic multi-link arm. The paper presents methods for the control of the aerial platform taking into account the motion of the arm. It shows how a Variable Parameter Integral Backstepping controller outperforms the results obtained by using PID controllers. The paper presents a quadrotor with a new arm designed for assembly tasks and the implementation of the proposed control methods. Simulations and outdoor experiments confirm the validity of the proposed approach.

Keywords

autonomous aerial vehicles; manipulators; mobile robots; robotic assembly; three-term control; PID controllers; aerial manipulators; aerial platform; aerial robot control; assembly tasks; quadrotor; robotic multilink arm; unmanned aerial vehicle; variable parameter integral backstepping controller; Attitude control; Backstepping; Manipulator dynamics; Sensors; Standards; Aerial robotics; aerial manipulation; quadrotor nonlinear control;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation (ICRA), 2013 IEEE International Conference on

Conference_Location

Karlsruhe

ISSN

1050-4729

Print_ISBN

978-1-4673-5641-1

Type

conf

DOI

10.1109/ICRA.2013.6631279

Filename

6631279