Authors:
Kamel Bouzgou
1
;
Laredj Benchikh
2
;
Lydie Nouveliere
2
;
Yasmina Bestaoui
2
and
Zoubir Ahmed-Foitih
3
Affiliations:
1
IBISC, Univ. Evry, Université Paris-Saclay, 91025, Evry, France, LEPESA Laboratory, Faculty of Electrical Engineering, Department of Electronics, USTO-MB, 31000 Oran and Algerie
;
2
IBISC, Univ. Evry, Université Paris-Saclay, 91025, Evry and France
;
3
LEPESA Laboratory, Faculty of Electrical Engineering, Department of Electronics, USTO-MB, 31000 Oran and Algerie
Keyword(s):
UAVs, Aerial Robot, Flying Manipulation, CLIKA, CoM Compensation, Dynamic Inverse Control.
Related
Ontology
Subjects/Areas/Topics:
Informatics in Control, Automation and Robotics
;
Mobile Robots and Autonomous Systems
;
Modeling, Simulation and Architectures
;
Robot Design, Development and Control
;
Robotics and Automation
Abstract:
This paper presents the design and modelling of a new Aerial manipulating system, that resolve a displacement of centre of gravity of the whole system with a mechanical device. A prismatic joint between the multirotor and a robotic arm is introduced to make a centre of mass as close as to the geometric centre of the whole system. This paper details also the geometric and dynamic modelling of a coupled system with a Lagrange formalism and control law with a Closed Loop Inverse Kinematic Algorithm (CLIKA). This dynamic inverse control is validated in a Simulink environment showing the efficiency of our approach.