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Title:Design and control of a compact aerial manipulation system with a Delta-type parallel robot
Author(s):Barsi Haberfeld, Gabriel
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):Robotics
Dynamics
Quadrotor
Robust adaptive control
Optimal trajectory generation
Abstract:This thesis presents the design, modeling, and control of a quadcopter equipped with a Delta-type parallel manipulator. Such systems present demanding challenges in both control theory and task planning, which are addressed with novel mechanical features, modern flight controllers, and optimal trajectory generation. They are primarily designed for versatile indoor pick-and-place tasks where the characteristics of the proposed solution introduce useful kinematic properties. We explore these traits to address critical deficiencies found in previous approaches. First, we introduce and discuss the mechanical design of the coupled system. Second, we derive the kinematics and dynamic relationships between all bodies. Third, we develop the flight controller, where baseline, feedforward, and adaptive components are combined and used in unison with an optimal trajectory generation algorithm. Finally, we present simulation results which reflect the feasibility of the concepts.
Issue Date:2017-12-05
Type:Text
URI:http://hdl.handle.net/2142/99349
Rights Information:Copyright 2017 Gabriel Barsi Haberfeld
Date Available in IDEALS:2018-03-13
Date Deposited:2017-12


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