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Title:Aerial manipulation for indoor applications
Author(s):Jones, Robert Mitchell
Advisor(s):Hovakimyan, Naira
Department / Program:Mechanical Sci & Engineering
Discipline:Mechanical Engineering
Degree Granting Institution:University of Illinois at Urbana-Champaign
Degree:M.S.
Genre:Thesis
Subject(s):Aerial
Manipulator
Quadrotor
Unmanned aerial vehicle (UAV)
Indoor
Design
Control
Feedforward
L1
Augmentation
Stabilize
Gripper
Robot
Abstract:This thesis presents the design and control of a small aerial manipulator operating in indoor environments. The critical challenges of functioning effectively in such environments are (i) maximizing workspace in constrained spaces like narrow corridors or tight corners, and (ii) achieving stable flight when carrying payloads of unknown mass in the presence of uncertainties. While aerial manipulation has been researched to some extent, few efforts have been made to address both of these challenges simultaneously. First, the dynamics of the quadrotor and manipulator are introduced. Then, two types of baseline flight controllers are described as well as a feedforward torque compensation controller and a robust adaptive augmenting controller. Next, the vehicle and manipulator design methodology is discussed. Lastly, results from the implementation of these algorithms on a real aerial manipulator are presented and conclusions of their efficacy are drawn.
Issue Date:2017-04-27
Type:Thesis
URI:http://hdl.handle.net/2142/97341
Rights Information:Copyright 2017 Robert Jones
Date Available in IDEALS:2017-08-10
Date Deposited:2017-05


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