Control of a Multirotor Outdoor Aerial Manipulator

被引：0

作者：

Heredia, G. ^{[1
]}

Jimenez-Cano, A. E. ^{[1
]}

Sanchez, I. ^{[1
]}

Llorente, D. ^{[1
]}

Vega, V. ^{[1
]}

Braga, J. ^{[1
]}

Acosta, J. A. ^{[1
]}

Ollero, A. ^{[1
]}

机构：

[1] Univ Seville, GRVC, Seville, Spain

来源：

2014 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS 2014) | 2014年

关键词：

Aerial robotics; aerial manipulation; multirotor nonlinear control;

D O I：

暂无

中图分类号：

TP18 [人工智能理论];

学科分类号：

081104 ; 0812 ; 0835 ; 1405 ;

摘要：

This paper presents the design and control of a multirotor-based aerial manipulator developed for outdoor operation. The multi-rotor has eight rotors and large payload to integrate a 7-degrees of freedom arm and to carry sensors and processing hardware needed for outdoor positioning. The arm can also carry an end-effector and sensors to perform different missions. The paper focuses on the control design and implementation aspects. A stable backstepping-based controller for the multirotor that uses the coupled full dynamic model is proposed, and an admittance controller for the manipulator arm is outlined. Several experimental tests with the aerial manipulator are also presented. In one of the experiments, the performance of the pitch attitude controller is compared to a PID controller. Other experiments of the arm controller following an object with the camera are also presented.

引用

页码：3417 / 3422

页数：6

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