A Novel Aerial Manipulation Design, Modelling and Control for Geometric CoM Compensation

Kamel Bouzgou, Laredj Benchikh, Lydie Nouveliere, Yasmina Bestaoui, Zoubir Ahmed-Foitih

Abstract

This paper presents the design and modelling of a new Aerial manipulating system, that resolve a displacement of centre of gravity of the whole system with a mechanical device. A prismatic joint between the multirotor and a robotic arm is introduced to make a centre of mass as close as to the geometric centre of the whole system. This paper details also the geometric and dynamic modelling of a coupled system with a Lagrange formalism and control law with a Closed Loop Inverse Kinematic Algorithm (CLIKA). This dynamic inverse control is validated in a Simulink environment showing the efficiency of our approach.

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Paper Citation


in Harvard Style

Bouzgou K., Benchikh L., Nouveliere L., Bestaoui Y. and Ahmed-Foitih Z. (2019). A Novel Aerial Manipulation Design, Modelling and Control for Geometric CoM Compensation.In Proceedings of the 16th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 978-989-758-380-3, pages 475-482. DOI: 10.5220/0007951404750482


in Bibtex Style

@conference{icinco19,
author={Kamel Bouzgou and Laredj Benchikh and Lydie Nouveliere and Yasmina Bestaoui and Zoubir Ahmed-Foitih},
title={A Novel Aerial Manipulation Design, Modelling and Control for Geometric CoM Compensation},
booktitle={Proceedings of the 16th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2019},
pages={475-482},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0007951404750482},
isbn={978-989-758-380-3},
}


in EndNote Style

TY - CONF

JO - Proceedings of the 16th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - A Novel Aerial Manipulation Design, Modelling and Control for Geometric CoM Compensation
SN - 978-989-758-380-3
AU - Bouzgou K.
AU - Benchikh L.
AU - Nouveliere L.
AU - Bestaoui Y.
AU - Ahmed-Foitih Z.
PY - 2019
SP - 475
EP - 482
DO - 10.5220/0007951404750482