| Description |
1 online resource |
| Series |
Advances in industrial control, 1430-9491 |
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Advances in industrial control.
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| Contents |
Series Editors' Foreword; Preface; Acknowledgements; Contents; 1 Introduction; 1.1 The State of the Art and Future of Aerial Robotics; 1.1.1 Physical Interactions; 1.1.2 Aerial Manipulation; 1.1.3 The Design of Aerial Manipulation Systems; 1.1.4 Applications; 1.1.5 Conclusions and Future of Aerial Robotics; 1.2 Structure of the Book; References; 2 Coordinate Systems and Transformations; 2.1 Coordinate Systems; 2.1.1 Global Coordinate System; 2.1.2 Local Coordinate System; 2.1.3 Coordinate System Representation; 2.2 Coordinate Transformations; 2.2.1 Orientation Representation |
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2.2.2 Euler Angles2.2.3 Change of Frame; 2.2.4 Translation and Rotation; 2.3 Motion Kinematics; 2.3.1 Linear and Angular Velocities; 2.3.2 Rotational Transformations of a Moving Body; References; 3 Multirotor Aerodynamics and Actuation; 3.1 The Aerodynamics of Rotary Flight; 3.1.1 Momentum Theory; 3.1.2 Blade Element Theory; 3.2 Different Multirotor Configurations; 3.2.1 Coplanar Configuration of Propulsors; 3.2.2 Independent Control of All 6 DOF; 3.3 Aerial Manipulation Actuation; 3.3.1 DC Motor; 3.3.2 Brushless DC Motor; 3.3.3 Servo Drives; 3.3.4 2-Stroke Internal Combustion Engine |
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5.1.1 Forward Equations in Fixed Base Coordinate System5.1.2 Forward Equations in a UAV (Moving) Coordinate System; 5.1.3 Multiple Rigid Body System Mass and Moment of Inertia; 5.1.4 Backward Equations; 5.2 Lagrange -- Euler Model; 5.2.1 Aerial Robot Kinetic Energy; 5.2.2 Moment of Inertia; 5.3 Dynamics of Aerial Manipulator in Contact with Environment; 5.3.1 Momentary Coupling; 5.3.2 Loose Coupling; 5.3.3 Strong Coupling; References; 6 Sensors and Control; 6.1 Sensors; 6.1.1 Inertial Measurement Unit; 6.1.2 Cameras; 6.1.3 GPS; 6.1.4 Motion Capture; 6.2 Sensor Fusion |
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6.2.1 Attitude Estimation6.2.2 Position Estimation; 6.3 Linear Control System; 6.3.1 Attitude Control; 6.3.2 Position Control; 6.4 Robust and Adaptive Control Applications; 6.4.1 Gain Scheduling; 6.4.2 Model Reference Adaptive Control; 6.4.3 Backstepping Control; 6.4.4 Hsia -- a Robust Adaptive Control Approach; 6.5 Impedance Control; 6.6 Switching Stability of Coupling Dynamics; References; 7 Mission Planning and Control; 7.1 Path Planning; 7.1.1 Trajectory Generation; 7.2 Obstacle-Free Trajectory Planning; 7.2.1 Local Planner; 7.2.2 Global Planner; 7.3 Vision-Guided Aerial Manipulation |
| Summary |
This text is a thorough treatment of the rapidly growing area of aerial manipulation. It details all the design steps required for the modeling and control of unmanned aerial vehicles (UAV) equipped with robotic manipulators. Starting with the physical basics of rigid-body kinematics, the book gives an in-depth presentation of local and global coordinates, together with the representation of orientation and motion in fixed- and moving-coordinate systems. Coverage of the kinematics and dynamics of unmanned aerial vehicles is developed in a succession of popular UAV configurations for multirotor systems. Such an arrangement, supported by frequent examples and end-of-chapter exercises, leads the reader from simple to more complex UAV configurations. Propulsion-system aerodynamics, essential in UAV design, is analyzed through blade-element and momentum theories, analysis which is followed by a description of drag and ground-aerodynamic effects. The central part of the book is dedicated to aerial-manipulator kinematics, dynamics, and control. Based on foundations laid in the opening chapters, this portion of the book is a structured presentation of Newton-Euler dynamic modeling that results in forward and backward equations in both fixed- and moving-coordinate systems. The Lagrange-Euler approach is applied to expand the model further, providing formalisms to model the variable moment of inertia later used to analyze the dynamics of aerial manipulators in contact with the environment. Using knowledge from sensor data, insights are presented into the ways in which linear, robust, and adaptive control techniques can be applied in aerial manipulation so as to tackle the real-world problems faced by scholars and engineers in the design and implementation of aerial robotics systems. The book is completed by path and trajectory planning with vision-based examples for tracking and manipulation |
| Bibliography |
Includes bibliographical references and index |
| Notes |
Online resource; title from PDF title page (SpringerLink, viewed October 3, 2017) |
| Subject |
Drone aircraft -- Control systems.
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Robotics.
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Aerospace & aviation technology.
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Automatic control engineering.
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TECHNOLOGY & ENGINEERING -- Engineering (General)
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Drone aircraft -- Control systems
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| Form |
Electronic book
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| Author |
Orsag, Matko, author
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Korpela, Christopher, author
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Oh, Paul Y., author.
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Bogdan, Stjepan, author.
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| ISBN |
9783319610221 |
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3319610228 |
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