Full metadata
Title
Sagittal Plane Dynamic Modeling and Control of Aerial Manipulator for Phytobiopsy
Description
The ability for aerial manipulators to stay aloft while interacting with dynamic environments is critical for successfully in situ data acquisition methods in arboreal environments. One widely used platform utilizes a six degree of freedom manipulator attached to quadcoper or octocopter, to sample a tree leaf by maintaining the system in a hover while the arm pulls the leaf for a sample. Other system are comprised of simpler quadcopter with a fixed mechanical device to physically cut the leaf while the system is manually piloted. Neither of these common methods account or compensate for the variation of inherent dynamics occurring in the arboreal-aerial manipulator interaction effects. This research proposes force and velocity feedback methods to control an aerial manipulation platform while allowing waypoint navigation within the work space to take place. Using these methods requires minimal knowledge of the system and the dynamic parameters. This thesis outlines the Robot Operating System (ROS) based Open Autonomous Air Vehicle (OpenUAV) simulations performed on the purposed three degree of freedom redundant aerial manipulation platform.
Date Created
2022
Contributors
- Cohen, Daniel (Author)
- Das, Jnaneshwar (Thesis advisor)
- Marvi, Hamidreza (Committee member)
- Saldaña, David (Committee member)
- Arizona State University (Publisher)
Topical Subject
Resource Type
Extent
93 pages
Language
eng
Copyright Statement
In Copyright
Primary Member of
Peer-reviewed
No
Open Access
No
Handle
https://hdl.handle.net/2286/R.2.N.168636
Level of coding
minimal
Cataloging Standards
Note
Partial requirement for: M.S., Arizona State University, 2022
Field of study: Aerospace Engineering
System Created
- 2022-08-22 05:35:35
System Modified
- 2022-08-22 05:36:01
- 2 years 2 months ago
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