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Computed torque control of an aerial manipulation system with a quadrotor and a 2-DOF robotic arm

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dc.contributor.author Arıkan, Kutluk Bilge
dc.contributor.author Turgut, Ali Emre
dc.contributor.author Bulut, Nebi
dc.date.accessioned 2019-12-18T09:08:22Z
dc.date.available 2019-12-18T09:08:22Z
dc.date.issued 2019
dc.identifier.isbn 9789897583803
dc.identifier.uri http://hdl.handle.net/20.500.12485/603
dc.description.abstract This paper presents the control of an aerial manipulation system with a quadrotor and a 2-DOF robotic arm by using the computed torque control method. The kinematic and dynamic model of the system is obtained by modeling the quadrotor and the robotic arm as a unified system. Then, the equation of motion of the unified system is got in the form of a standard robot dynamics equation. For the trajectory control of the system, computed torque control is used. Gains of the controller are optimized by using nonlinear least squares method. The performance and stability of the control structure are tested with a simulation case study. en_US
dc.language.iso en en_US
dc.publisher SciTePress en_US
dc.subject Aerial manipulation en_US
dc.subject Computed torque control en_US
dc.subject Gain optimization en_US
dc.subject Quadrotor en_US
dc.subject Robotics en_US
dc.title Computed torque control of an aerial manipulation system with a quadrotor and a 2-DOF robotic arm en_US
dc.type Book chapter en_US
dc.relation.journal ICINCO 2019 - Proceedings of the 16th International Conference on Informatics in Control, Automation and Robotics en_US
dc.identifier.startpage 510 en_US
dc.identifier.endpage 517 en_US
dc.identifier.volume 2 en_US


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