Ahmed Khalifa and Mohamed Fanni
Aerial manipulation, quadrotor, inverse kinematics, disturbance observer, stability analysis
In this paper, the position kinematic analysis of a novel quadrotor manipulation system is presented. In this system, a quadrotor is attached with 2-DOF robotic arm. The proposed robot addresses the limitations found in the current aerial manipulators. To check the reliability of the proposed system, a quadrotor with high allowable payload capability is selected, and the robot arm is designed. Forward and inverse kinematics are derived to be utilized in the control system to reach the desired position and orientation of the end-effector. The controller design of the proposed robot is proposed, in the quadrotor/joint space, based on Disturbance Observer (DOb) and compared to an adaptive intelligent controller. Stability analysis of the proposed control system is presented. The two controllers are tested to achieve point-to-point control of the end-effector under the effects of picking/releasing an object, changing the point of operation, and measurement noise. Simulation study is carried out in MATLAB environment. The results show the feasibility of the proposed system, in addition to the effectiveness of the kinematic analysis and the proposed controller.
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