Controller Design and Implementation of a New Quadrotor Manipulation System
Abstract
The previously introduced aerial manipulation systems suffer from either limited end-effector DOF or small payload capacity. In this dissertation, a quadrotor with a 2-DOF manipulator is investigated that has a unique topology to enable the end-effector to track 6-DOF trajectory with the minimum possible number of actuators/links and hence, maximize the payload and/or mission time. The proposed system is designed, modeled, and constructed. An identification process is carried out to find the system parameters. An experimental setup is proposed with a 6-DOF state measurement and estimation scheme. The system feasibility is validated via numerical and experimental results. The inverse kinematics require a solution of complicated algebraic-differential equations. Therefore, an algorithm is developed to get an approximate solution of these equations.
Cite
@article{arxiv.1904.08498,
title = {Controller Design and Implementation of a New Quadrotor Manipulation System},
author = {Ahmed Khalifa},
journal= {arXiv preprint arXiv:1904.08498},
year = {2025}
}
Comments
Ph.D. Thesis. Supervisors: Prof. Mohamed Fanni (EJUST), Prof. Toru Namerikawa (Keio University)