University of Twente Student Theses
Aerial Manipulation Of Deformable Objects
Vijayan, Vignesh Balaji (2024) Aerial Manipulation Of Deformable Objects.
|
PDF
72MB |
| Abstract: | Robotic aerial manipulation systems have met ceaseless growth in the past decade. Aerial robots have been endowed with manipulation capabilities through a variety of tools, including grippers, rigid tools, multi-dof arms, and cables. However, modeling and control of deformable aerial manipulation systems remain challenging. Even capturing the behavior of a deformable cable is not trivial, and cables have been often approximated as inextensible linear elements. Sometimes, the cable connected to the aerial robot has been modeled as an elastic spring [1], or a series of rigid links interconnected by passive spherical joints [2] [3] [4]. The objective of this assignment is to compute the model and design the control law of a complex system composed of multiple aerial robots physically connected through a net of cables. Consider a system composed of multiple multirotors connected through deformable passive elements, such as cables. Identify a suitable model for such a system. The steps will be: a study of the literature on cable-connected aerial robotic systems; identification of a suitable model (simple yet realistic); and validation of the model. How to simulate such a system? Identify challenges, pros, and cons. This MSc thesis will take place within the scope of the H2020 Aerial-Core European project. [1]: Tognon, M., Gabellieri, C., Pallottino, L., and Franchi, A. "Aerial co-manipulation with cables: The role of internal force for equilibria, stability, and passivity." IEEE Robotics and Automation Letters 3.3 (2018): 2577-2583. [2]: Kotaru, P., and Sreenath, K. "Multiple quadrotors carrying a flexible hose: dynamics, differential flatness and control." IFAC-PapersOnLine 53.2 (2020): 8832-8839. [3]: Kotaru, P., Wu, G., and Sreenath, K. "Differential-flatness and control of quadrotor (s) with a payload suspended through flexible cable (s)." 2018 Indian Control Conference (ICC). IEEE, 2018. [4]: Goodarzi, F. A., Lee, D., and Lee, T. "Geometric stabilization of a quadrotor UAV with a payload connected by flexible cable." 2014 American Control Conference. IEEE, 2014. |
| Item Type: | Essay (Master) |
| Faculty: | EEMCS: Electrical Engineering, Mathematics and Computer Science |
| Subject: | 50 technical science in general |
| Programme: | Systems and Control MSc (60359) |
| Link to this item: | https://purl.utwente.nl/essays/103283 |
| Export this item as: | BibTeX EndNote HTML Citation Reference Manager |
Show download statistics for this publication
Show download statistics for this publicationRepository Staff Only: item control page