Mechanical Design, Modelling and Control of a Novel Aerial Manipulator

摘要

In this paper a novel aerial manipulation system is proposed. The mechanicalstructure of the system, the number of thrusters and their geometry will bederived from technical optimization problems. The aforementioned problems aredefined by taking into consideration the desired actuation forces and torquesapplied to the end-effector of the system. The framework of the proposed systemis designed in a CAD Package in order to evaluate the system parameter values.Following this, the kinematic and dynamic models are developed and an adaptivebackstepping controller is designed aiming to control the exact position andorientation of the end-effector in the Cartesian space. Finally, theperformance of the system is demonstrated through a simulation study, where amanipulation task scenario is investigated.