TY - GEN
T1 - Design and Implementation of a Novel Aerial Manipulator with Tandem Ducted Fans
AU - Zhang, Yibo
AU - Xiang, Changle
AU - Xu, Bin
AU - Wang, Yang
AU - Wang, Xiaoliang
N1 - Publisher Copyright:
© 2018 IEEE.
PY - 2018/12/27
Y1 - 2018/12/27
N2 - This paper proposes a novel aerial manipulator with tandem ducted fans, which takes both trafficability and effective loading into account. The aerial manipulator is particularly suitable for grasping in complex and narrow environment, in which traditional multi-rotor and helicopter would be inaccessible. The comprehensive integrated dynamic model is established by taking the aerial vehicle dynamics and manipulator dynamics as a whole. On this basis, a multilayer composite controller with feedforward compensation is designed, considering the mutual reactive influence between the aerial vehicle and the manipulator to improve the stability of the system under the motion of the manipulator. The simulation and actual flight tests verify the effectiveness of the design and show good stability and tracking performance of the system.
AB - This paper proposes a novel aerial manipulator with tandem ducted fans, which takes both trafficability and effective loading into account. The aerial manipulator is particularly suitable for grasping in complex and narrow environment, in which traditional multi-rotor and helicopter would be inaccessible. The comprehensive integrated dynamic model is established by taking the aerial vehicle dynamics and manipulator dynamics as a whole. On this basis, a multilayer composite controller with feedforward compensation is designed, considering the mutual reactive influence between the aerial vehicle and the manipulator to improve the stability of the system under the motion of the manipulator. The simulation and actual flight tests verify the effectiveness of the design and show good stability and tracking performance of the system.
UR - https://www.scopus.com/pages/publications/85062956483
U2 - 10.1109/IROS.2018.8593868
DO - 10.1109/IROS.2018.8593868
M3 - Conference contribution
AN - SCOPUS:85062956483
T3 - IEEE International Conference on Intelligent Robots and Systems
SP - 4210
EP - 4217
BT - 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2018
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2018
Y2 - 1 October 2018 through 5 October 2018
ER -