Aerial manipulation for indoor applications

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.

Name thesis:degree_name

M.S.

Level thesis:degree_level

Thesis

Discipline thesis:degree_discipline

Mechanical Engineering

Grantor

University of Illinois at Urbana-Champaign

Year dc:date

2017

Author dc:creator

• Jones, Robert Mitchell

Contributors dc:contributor

• Hovakimyan, Naira

• Aerial
• Manipulator
• Quadrotor
• Unmanned aerial vehicle (UAV)
• Indoor
• Design
• Control
• Feedforward
• L1
• Augmentation
• Stabilize
• Gripper
• Robot

Statement dc:rights

• Copyright 2017 Robert Jones

Language dc:language

en

Handle dc:identifier

http://hdl.handle.net/2142/97341

OAI identifier oai:identifier

oai:www.ideals.illinois.edu:2142/97341