A novel aerial manipulation design, modelling and control for geometric com compensation

Kamel Bouzgou (1) , Laredj Benchikh (1) , Lydie Nouveliere (1) , Yasmina Bestaoui (1) , Zoubir Ahmed-Foitih (2)

1 IBISC - Informatique, BioInformatique, Systèmes Complexes
2 Laboratory of Power Systems, Solar Energy and Automation L.E.P.E.S.A

This paper presents the design and modelling of a new Aerial manipulating system, that resolve a displacement of centre of gravity of the whole system with a mechanical device. A prismatic joint between the multirotor and a robotic arm is introduced to make a centre of mass as close as to the geometric centre of the whole system. This paper details also the geometric and dynamic modelling of a coupled system with a Lagrange formalism and control law with a Closed Loop Inverse Kinematic Algorithm (CLIKA). This dynamic inverse control is validated in a Simulink environment showing the efficiency of our approach.

Mots clés: UAVs; CoM compensation; Dynamic inverse control; CLIKA; Flying manipulation; Aerial Robot

Domaines: Automatique / Robotique

Kamel Bouzgou, Laredj Benchikh, Lydie Nouveliere, Yasmina Bestaoui, Zoubir Ahmed-Foitih. A novel aerial manipulation design, modelling and control for geometric com compensation. 16th International Conference on Informatics in Control, Automation and Robotics (ICINCO 2019), Jul 2019, Prague, Czech Republic. pp.475--482. ⟨hal-02318714⟩