This paper introduces a new quadrotor manipulation system that consists of a 2-link manipulator attached to the bottom of a quadrotor. This new system presents a solution for the drawbacks found in the current quadrot...
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ISBN:
(纸本)9781467344401
This paper introduces a new quadrotor manipulation system that consists of a 2-link manipulator attached to the bottom of a quadrotor. This new system presents a solution for the drawbacks found in the current quadrotor manipulation system which uses a gripper fixed to a quadrotor. Unlike the current system, the proposed system enables the end-effector to achieve any arbitrary orientation and thus increases its degrees of freedom from 4 to 6. Also, it provides enough distance between the quadrotor and the object to be manipulated. This is useful in some applications such as demining applications. System kinematics and dynamics are derived which are highly nonlinear. controller is designed based on feedback linearization to track desired trajectories. controlling the movements in the horizontal directions is simplified by utilizing the derived nonholonmic constraints. Finally, the proposed system is simulated using MATLAB/SIMULINK program. The simulation results show the effectiveness of the proposed controller.
Simulation of quantum computers using classical computers is a hard problem with high memory and computational requirements. Parallelization can alleviate this problem, allowing the simulation of more qubits at the sa...
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An algorithmic framework is developed for automatic deployment of car-like robots based on Linear Temporal Logic (LTL) formulae over a set of regions of interest in the environment. The environment and the regions of ...
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The main objective of this work is the design and implementation of a hierarchical control solution for chemical and petrochemical processes, namely the control and optimization of the ethylene pyrolysis reactor, the ...
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Based on all realistic static two-cell coupling faults presented by Hamdioui, van de Goor, and Rodgers in [1], we have defined a complex model of neighborhood pattern sensitive faults (NPSFs) in N ×1 random-acces...
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