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Mathematical Modelling of Control and Simultaneous Stabilization of 3-DOF Aerial Manipulation System

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Interactive Collaborative Robotics (ICR 2020)

Part of the book series: Lecture Notes in Computer Science ((LNAI,volume 12336))

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Abstract

A robotic manipulator mounted on unmanned aerial vehicle (UAV) is called an aerial manipulation system usually. Any movements of manipulator affect the stability of the UAV. In particular, the horizontal shift of the center of mass (COM) requires of the UAV the powerful controller that change forces of the propellers of quadrotor to bring the UAV to a stable state. To make manipulations by UAV it is important to save the center of mass of the aerial manipulation system in stable state. In this study, we developed a model of a manipulator to be mounted on a quadrotor. Fuzzy PID controller has been built to control of the manipulator. Control method takes into account joint space of robotic arm and unmanned aerial vehicle. The COM stabilization issue has been solved for manipulator motion. In experiments, the horizontal shift of COM of manipulator was less than 1 mm while picked up objects up to 0.15 kg of payload.

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Acknowledgements

The presented work was supported by the Russian Science Foundation (grant No. 16-19-00044П).

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Authors and Affiliations

  1. Department of Electromechanics and Robotics, SUAI, Bolshaya Morskaya Street, 67, 190000, St. Petersburg, Russia

    Vinh Nguyen

  2. Laboratory of Autonomous Robotic Systems, St. Petersburg Federal Research Center of the Russian Academy of Sciences (SPC RAS), 14-th line of V.I., 39, 199178, St. Petersburg, Russia

    Anton Saveliev & Andrey Ronzhin

Authors
  1. Vinh Nguyen
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  2. Anton Saveliev
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  3. Andrey Ronzhin
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Corresponding author

Correspondence to Andrey Ronzhin .

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Editors and Affiliations

  1. St. Petersburg Federal Research Center of the Russian Academy of Sciences, St. Petersburg, Russia

    Andrey Ronzhin

  2. Technical University of Munich, Munich, Germany

    Gerhard Rigoll

  3. Institute of Control Sciences of the Russian Academy of Sciences, Moscow, Russia

    Roman Meshcheryakov

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Nguyen, V., Saveliev, A., Ronzhin, A. (2020). Mathematical Modelling of Control and Simultaneous Stabilization of 3-DOF Aerial Manipulation System. In: Ronzhin, A., Rigoll, G., Meshcheryakov, R. (eds) Interactive Collaborative Robotics. ICR 2020. Lecture Notes in Computer Science(), vol 12336. Springer, Cham. https://doi.org/10.1007/978-3-030-60337-3_25

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  • DOI: https://doi.org/10.1007/978-3-030-60337-3_25

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-030-60336-6

  • Online ISBN: 978-3-030-60337-3

  • eBook Packages: Computer ScienceComputer Science (R0)

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