Computed Torque Control of an Aerial Manipulation System with a Quadrotor and a 2-DOF Robotic Arm

Nebi Bulut, Ali Turgut, Kutluk Aríkan

2019

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.

Paper Citation

in Harvard Style

Bulut N., Turgut A. and Aríkan K. (2019). Computed Torque Control of an Aerial Manipulation System with a Quadrotor and a 2-DOF Robotic Arm.In Proceedings of the 16th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 978-989-758-380-3, pages 510-517. DOI: 10.5220/0007965505100517

in Bibtex Style

@conference{icinco19,
author={Nebi Bulut and Ali Turgut and Kutluk Aríkan},
title={Computed Torque Control of an Aerial Manipulation System with a Quadrotor and a 2-DOF Robotic Arm},
booktitle={Proceedings of the 16th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2019},
pages={510-517},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0007965505100517},
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 - Computed Torque Control of an Aerial Manipulation System with a Quadrotor and a 2-DOF Robotic Arm
SN - 978-989-758-380-3
AU - Bulut N.
AU - Turgut A.
AU - Aríkan K.
PY - 2019
SP - 510
EP - 517
DO - 10.5220/0007965505100517