Verfügbarkeit: Design, modeling and control of aerial robots for physical interaction and manipulation

Design, modeling and control of aerial robots for physical interaction and manipulation:

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Bibliographische Detailangaben
1. Verfasser:	Yüksel, Burak (VerfasserIn)
Format:	Abschlussarbeit Buch
Sprache:	English
Veröffentlicht:	Berlin Logos Verlag Berlin May 2017
Schriftenreihe:	MPI series in biological cybernetics no. 50
Schlagworte:	Flugsteuerung Flugkörper Autonomer Roboter Quadrocopter Flugregelung Roboterarm Manipulator Paperback / softback Aerial Robotics Aerial Physical Interaction and Manipulation Nonlinear Control Theory Passivity-Based Control and IDA-PBC Differential Flatness 35 2017 DISS Universität Stuttgart 37 1684: Hardcover, Softcover / Technik/Elektronik, Elektrotechnik, Nachrichtentechnik Hochschulschrift
Online-Zugang:	Inhaltstext Inhaltsverzeichnis Inhaltsverzeichnis
Beschreibung:	xx, 199 Seiten Illustrationen 21 cm
ISBN:	9783832544928 3832544925

Internformat

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Datensatz im Suchindex

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adam_text	TABLE OF CONTENTS ABSTRACT XVII DEUTSCHE KURZFASSUNG XIX 1 INTRODUCTION 1 1.1 AERIAL R O B O TS ..................................................................................................... 1 1.1.1 VTOLS FOR AERIAL ROBOTICS.................................................................... 2 1.1.2 Q U A D RO TO RS............................................................................................ 4 1.2 AERIAL PHYSICAL INTERACTION (APHI) ................................................................. 5 1.3 AERIAL MANIPULATION............................................................................................ 6 1.4 ON THE CONTROL OF UNDERACTUATED AERIAL ROBOTS FOR APHI AND MANIPULATION 8 1.4.1 CONTROL OF A P H I...................................................................................... 8 1.4.2 CONTROL OF AERIAL MANIPULATORS .......................................................... 9 1.5 OUTLINE OF THIS T HESIS......................................................................................... 10 1.6 OPEN PROBLEMS AND CONTRIBUTIONS.................................................................... 12 2 QUADROTOR: M ATHEM ATICAL M ODEL AND EXPERIMENTAL SETUP 15 2.1 QUADROTOR M O D E L............................................................................................... 15 2.2 SIMULATION SETUPS OF THE Q UADROTOR................................................................. 17 2.3 EXPERIMENTAL SETUP OF THE Q UADROTOR ............................................................. 18 2.3.1 H A RD W A RE ............................................................................................... 18 2.3.2 SOFTW ARE.................................................................................................. 22 3 EXTERNAL WRENCH MEASUREMENT AND ESTIM ATION FOR AN AERIAL R OBOT 25 3.1 INTRODUCTION........................................................................................................ 25 3.2 MEASUREMENT OF THE EXTERNAL W RENCH ............................................................. 26 3.3 ESTIMATION OF THE EXTERNAL W RE N C H ................................................................. 30 3.4 MEASUREMENT VS E STIM A TIO N ............................................................................. 32 3.5 DISCUSSIONS ........................................................................................................ 32 4 CONTROL OF AERIAL PHYSICAL INTERACTION USING IDA-PBC 35 4.1 INTRODUCTION........................................................................................................ 35 4.1.1 P RELIM IN ARIES......................................................................................... 36 4.2 RESHAPING THE PHYSICAL PROPERTIES OF A QUADROTOR FOR A P H I......................... 39 4.2.1 PORT-HAMILTONIAN DYNAMICS OF A Q U A D RO TO R ..................................... 39 4.2.2 IDA-PBC OF QUADROTORS FOR AERIAL PHYSICAL IN TERACTION .................. 40 4.2.3 TOTAL ENERGY SHAPING .......................................................................... 41 4.2.4 DISSIPATION AND EXTERNAL WRENCH S H A P IN G ........................................ 43 4.2.5 USING IDA-PBC FOR TURNING QUADROTORS INTO 3D FORCE EFFECTORS . . 46 4.3 NUMERICAL AND EXPERIMENTAL R E S U LTS .............................................................. 47 4.3.1 NUMERICAL V ALIDATION............................................................................. 48 4.3.2 EXPERIMENTAL R ESULTS............................................................................. 57 4.4 DISCUSSIONS ......................................................................................................... 63 5 DESIGN OF A COMPLIANT ACTUATOR FOR AERIAL PHYSICAL INTERACTION AND MA NIPULATION 65 5.1 INTRODUCTION......................................................................................................... 65 5.2 DESIGN OF AN ELASTIC-JOINT ARM FOR AERIAL ROBOTS .......................................... 66 5.3 IDENTIFICATION AND C O N TR O L................................................................................ 67 5.3.1 PARAMETRIC IDENTIFICATION....................................................................... 67 5.3.2 CONTROL OF THE FLEXIBLE-JOINT A R M ........................................................ 70 5.4 EXPERIMENTAL R ESU LTS ......................................................................................... 71 5.5 DISCUSSIONS ......................................................................................................... 75 6 CONTROL OF AERIAL M ANIPULATION USING DIFFERENTIAL FLATNESS AND EXACT LINEARIZABILITY 77 6.1 INTRODUCTION......................................................................................................... 78 6.1.1 RELATIVE DEGREE, EXACT LINEARIZATION AND DIFFERENTIAL FLATNESS . . . 79 6.2 AERIAL MANIPULATORS WITH SINGLE JOINT-A RM ..................................................... 81 6.2.1 NOMENCLATURE AND O B JEC TIV E S.............................................................. 83 6.2.2 REVIEW OF EXACT OUTPUT TRACKING ....................................................... 85 6.2.3 METHODOLOGY ......................................................................................... 87 6.2.4 CASE RG: RIGID-JOINT ATTACHED TO A GENERIC P O IN T............................ 88 6.2.5 CASE RC: RIGID-JOINT ATTACHED TO THE PVTOL C O M ......................... 92 6.2.6 CASE EG: ELASTIC-JOINT ATTACHED TO A GENERIC P O I N T ......................... 95 6.2.7 CASE EC: ELASTIC-JOINT ATTACHED TO THE PVTOL C O M ......................... 100 6.2.8 USING FLATNESS FOR OPTIMAL TRAJECTORY PLANNING AND CONTROL .... 103 6.2.9 NUMERICAL RESULTS .................................................................................... 105 6.2.10 PRELIMINARY EXPERIM ENTS...........................................................................124 6.2.11 D ISCUSSIONS................................................................................................ 127 6.3 PROTOCENTRIC AERIAL MANIPULATORS (PAMS) WITH MULTIPLE REDUNDANT ARMS . 129 6.3.1 CASE R: SYSTEM DYNAMICS WITH ONLY RIGID J O IN TS ................................131 6.3.2 CASE E: SYSTEM DYNAMICS WITH RIGID AND/OR ELASTIC JO IN TS ................ 133 6.3.3 CONTROL FOR CASE R .................................................................................... 137 6.3.4 NUMERICAL RESULTS .................................................................................... 139 6.4 TOWARDS CONTROL IN 3 D .......................................................................................... 141 6.4.1 PAM IN 3 D ................................................................................................ 142 6.4.2 DECENTRALIZED FLATNESS-BASED C O N TRO L ..................................................... 144 6.4.3 EXPERIMENTAL R ESULTS................................................................................. 149 6.4.4 D ISCUSSIONS...................... .................................................................... 153 7 CONCLUSIONS 157 A TECHNICAL PROOFS 161 A.L PROOF OF PROPOSITION 1 .......................................................................................... 161 A.2 PROOF OF PROPOSITION 2 .......................................................................................... 162 A.3 PROOF OF PROPOSITION 3 .........................................................................................163 A.4 PROOF OF PROPOSITION 4 ........................................................................................ 163 A.5 PROOF OF PROPOSITION 5 .........................................................................................164 A.6 PROOF OF PROPOSITION 6 .........................................................................................165 A.7 PROOF OF PROPOSITION 7 .........................................................................................166 A.8 PROOF OF PROPOSITION 8 ........................................................................................ 168 A.9 PROOF OF PROPOSITION 9 ........................................................................................ 170 A. 10 PROOF OF PROPOSITION 1 0 ......................................................................................171 B TECHNICAL COMPUTATIONS 173 B. L COMPUTATION OF THE INERTIA MATRIX FOR (6.3.1) .......................................... 173 B.2 COMPUTATION OF THE GRAVITY AND CORIOLIS FORCES FOR (6.80) AND (6.81) . . . 175 B. 3 COMPUTATION OF THE CONTROL INPUT MATRIX FOR (6 .8 3 ) ...................................... 180 C NONLINEAR SYSTEMS, STABILITY AND CONTROL 181 C. L KNOWN CONCEPTS FOR THE NONLINEAR SYSTEMS S TA B ILITY ..............................182 C.2 CONNECTIONS BETWEEN DIFFERENT STABILITY C ONCEPTS............................................186 BIBLIOGRAPHY 191
any_adam_object	1
author	Yüksel, Burak
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discipline	Maschinenbau / Maschinenwesen Informatik Elektrotechnik / Elektronik / Nachrichtentechnik Verkehr / Transport Mess-/Steuerungs-/Regelungs-/Automatisierungstechnik / Mechatronik
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spellingShingle	Yüksel, Burak Design, modeling and control of aerial robots for physical interaction and manipulation Flugsteuerung (DE-588)4344154-3 gnd Flugkörper (DE-588)4154756-1 gnd Autonomer Roboter (DE-588)4304075-5 gnd Quadrocopter (DE-588)1051121949 gnd Flugregelung (DE-588)4328094-8 gnd Roboterarm (DE-588)4507425-2 gnd Manipulator (DE-588)4037349-6 gnd
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title	Design, modeling and control of aerial robots for physical interaction and manipulation
title_auth	Design, modeling and control of aerial robots for physical interaction and manipulation
title_exact_search	Design, modeling and control of aerial robots for physical interaction and manipulation
title_full	Design, modeling and control of aerial robots for physical interaction and manipulation vorgelegt von Burak Yüksel
title_fullStr	Design, modeling and control of aerial robots for physical interaction and manipulation vorgelegt von Burak Yüksel
title_full_unstemmed	Design, modeling and control of aerial robots for physical interaction and manipulation vorgelegt von Burak Yüksel
title_short	Design, modeling and control of aerial robots for physical interaction and manipulation
title_sort	design modeling and control of aerial robots for physical interaction and manipulation
topic	Flugsteuerung (DE-588)4344154-3 gnd Flugkörper (DE-588)4154756-1 gnd Autonomer Roboter (DE-588)4304075-5 gnd Quadrocopter (DE-588)1051121949 gnd Flugregelung (DE-588)4328094-8 gnd Roboterarm (DE-588)4507425-2 gnd Manipulator (DE-588)4037349-6 gnd
topic_facet	Flugsteuerung Flugkörper Autonomer Roboter Quadrocopter Flugregelung Roboterarm Manipulator Hochschulschrift
url	http://deposit.dnb.de/cgi-bin/dokserv?id=7e59ba81ecdb413f9b6201066bd285cf&prov=M&dok_var=1&dok_ext=htm https://d-nb.info/1131889916/04 http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&local_base=BVB01&doc_number=031629926&sequence=000001&line_number=0001&func_code=DB_RECORDS&service_type=MEDIA
work_keys_str_mv	AT yukselburak designmodelingandcontrolofaerialrobotsforphysicalinteractionandmanipulation AT logosverlagberlin designmodelingandcontrolofaerialrobotsforphysicalinteractionandmanipulation

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