We consider the following two problems to enable a quadrotor to operate a mechanical tool (e.g., screwdriver, vertical jack, etc), which is rigidly-attached on the quadrotor and whose control, different to other quadrotor motion control results, demands an integrated and simultaneous control of the quadrotor’s translation and rotation: 1) tool-tip position trajectory tracking control; and 2) tool rotating operation control with the tool-tip position regulated. We characterize some structural conditions for generating any arbitrary desired control for the tool-tip position and also for avoiding internal dynamics instability (with possible finite-time escape). Simulations are performed to support the theory.
- Dynamic Systems and Control Division
Mechanics and Control of Quadrotors for Tool Operation
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Lee, D, & Ha, C. "Mechanics and Control of Quadrotors for Tool Operation." Proceedings of the ASME 2012 5th Annual Dynamic Systems and Control Conference joint with the JSME 2012 11th Motion and Vibration Conference. Volume 1: Adaptive Control; Advanced Vehicle Propulsion Systems; Aerospace Systems; Autonomous Systems; Battery Modeling; Biochemical Systems; Control Over Networks; Control Systems Design; Cooperative and Decentralized Control; Dynamic System Modeling; Dynamical Modeling and Diagnostics in Biomedical Systems; Dynamics and Control in Medicine and Biology; Estimation and Fault Detection; Estimation and Fault Detection for Vehicle Applications; Fluid Power Systems; Human Assistive Systems and Wearable Robots; Human-in-the-Loop Systems; Intelligent Transportation Systems; Learning Control. Fort Lauderdale, Florida, USA. October 17–19, 2012. pp. 177-184. ASME. https://doi.org/10.1115/DSCC2012-MOVIC2012-8781
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