Design and control of a compact aerial manipulation system with a Delta-type parallel robot

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.

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

2018

Author dc:creator

• Barsi Haberfeld, Gabriel

Contributors dc:contributor

• Hovakimyan, Naira

• Robotics
• Dynamics
• Quadrotor
• Robust adaptive control
• Optimal trajectory generation

Statement dc:rights

• Copyright 2017 Gabriel Barsi Haberfeld

Language dc:language

en

Handle dc:identifier

http://hdl.handle.net/2142/99349

OAI identifier oai:identifier

oai:www.ideals.illinois.edu:2142/99349