2026-09-20T04:20:15Z https://www.ideals.illinois.edu/oai-pmh

oai:www.ideals.illinois.edu:2142/99349 2023-07-11 col_2142_5131 col_2142_14787 com_2142_5130 com_2142_9630 com_2142_234

Hovakimyan, Naira Barsi Haberfeld, Gabriel 2018-03-13T15:48:47Z 2018-03-13T15:48:47Z 2017-12-05 2017-12 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. Submission original under an indefinite embargo labeled 'Open Access'. The submission was exported from vireo on 2018-03-13 without embargo terms The student, Gabriel Barsi Haberfeld, accepted the attached license on 2017-12-05 at 10:45. The student, Gabriel Barsi Haberfeld, submitted this Thesis for approval on 2017-12-05 at 10:46. This Thesis was approved for publication on 2017-12-05 at 13:37. DSpace SAF Submission Ingestion Package generated from Vireo submission #11790 on 2018-03-13 at 10:09:32 Made available in DSpace on 2018-03-13T15:48:47Z (GMT). No. of bitstreams: 2 BARSIHABERFELD-THESIS-2017.pdf: 7805676 bytes, checksum: e593483cf0cdf8ba86fe6182cca3233d (MD5) LICENSE.txt: 4220 bytes, checksum: 8df53e5a2d1f4bc3f1fb83a4010653d7 (MD5) Previous issue date: 2017-12-05 application/pdf http://hdl.handle.net/2142/99349 en Copyright 2017 Gabriel Barsi Haberfeld Robotics Dynamics Quadrotor Robust adaptive control Optimal trajectory generation Design and control of a compact aerial manipulation system with a Delta-type parallel robot text text Mechanical Sci & Engineering Mechanical Engineering University of Illinois at Urbana-Champaign Thesis M.S.