Control of a Quadrotor Equipped with Robotic Arm Based on Disturbance Estimation

Document Type : Research Article

Authors

1 School of Mechanical Engineering, College of Engineering, University of Tehran

2 School of Mechanical, Engineering, College of Engineering, University of Tehran

3 Associate professor, School of Mechanical Engineering, University of Tehran

Abstract

In recent years, unmanned vehicles especially unmanned aerial vehicles have become very popular in many countries in the military, industrial and scientific research fields because of their high speed and maneuverability. This research investigates a compound system consisting of a quadrotor and a series of a robotic manipulators. Joining these two systems aims at combining the agility and flexibility of multi-rotor unmanned aerial vehicles and the dexterity of robotic arms. This combination makes unmanned aerial vehicles able to perform more complicated tasks. In this thesis, the first kinematics and dynamics of a quadrotor are written using quaternion and Newton-Euler equations. Next, a 3-degree of freedom robotic arm that is connected to the bottom of a quadrotor is considered and its kinematics and dynamics are derived using Newton-Euler recursive algorithm. To control the quadrotor, two inner-outer loops are used for its orientation and position respectively. Toque due to arm operation or exerted force to its end effector is estimated using Kalman filter and is fed into quadrotor inner control loop. For trajectory tracking of an arm end effector, an inverse kinematic algorithm is used. The compound system including unmanned aerial vehicles and arm is simulated with different scenarios to verify its performance.

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Main Subjects

References

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Amirkabir Journal of Mechanical Engineering
Volume 54, Issue 4
July 2022
Pages 747-768

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