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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.

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Paper citation in several formats:
Bouzgou, K.; Benchikh, L.; Nouveliere, L.; Bestaoui, Y. and Ahmed-Foitih, Z. (2019). A Novel Aerial Manipulation Design, Modelling and Control for Geometric CoM Compensation. In Proceedings of the 16th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO; ISBN 978-989-758-380-3; ISSN 2184-2809, SciTePress, pages 475-482. DOI: 10.5220/0007951404750482

@conference{icinco19,
author={Kamel Bouzgou. and Laredj Benchikh. and Lydie Nouveliere. and Yasmina Bestaoui. and Zoubir Ahmed{-}Foitih.},
title={A Novel Aerial Manipulation Design, Modelling and Control for Geometric CoM Compensation},
booktitle={Proceedings of the 16th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO},
year={2019},
pages={475-482},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0007951404750482},
isbn={978-989-758-380-3},
issn={2184-2809},
}

TY - CONF

JO - Proceedings of the 16th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO
TI - A Novel Aerial Manipulation Design, Modelling and Control for Geometric CoM Compensation
SN - 978-989-758-380-3
IS - 2184-2809
AU - Bouzgou, K.
AU - Benchikh, L.
AU - Nouveliere, L.
AU - Bestaoui, Y.
AU - Ahmed-Foitih, Z.
PY - 2019
SP - 475
EP - 482
DO - 10.5220/0007951404750482
PB - SciTePress