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Multirotor Aerial Platform with Manipulation System - Static Disturbances

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Automation 2017 (ICA 2017)

Part of the book series: Advances in Intelligent Systems and Computing ((AISC,volume 550))

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Abstract

Adding on-board manipulation system to flying robot rises a serious problem, as its operation strongly affects the overall stability of the aerial platform. With arms of the manipulation system moving during flight, the distribution of masses changes and extra dynamic reaction forces are generated. Such disturbances are usually not taken into consideration in the standard platform stabilization algorithms. This is why a new algorithm addressing such disturbances is necessary. Manipulators perform various movements, e.g. symmetric or independent. Therefore, it is necessary to evaluate the induced disturbances, both in qualitative and quantitative aspect. In this paper, the static reactions due to the changes of the system’s configuration during flight are investigated.

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Author information

Authors and Affiliations

  1. Poznań Aerial Robotics Team, Institute of Control and Information Engineering, Poznań University of Technology, ul. Piotrowo 3A, 60-965, Poznań, Poland

    Stanisław Gardecki, Andrzej Kasiński, Adam Bondyra & Przemysław Ga̧sior

Authors
  1. Stanisław Gardecki
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  2. Andrzej Kasiński
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  3. Adam Bondyra
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  4. Przemysław Ga̧sior
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Corresponding author

Correspondence to Stanisław Gardecki .

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Editors and Affiliations

  1. Industrial Research Institute for Automation and Measurements PIAP, Warsaw, Poland

    Roman Szewczyk

  2. Industrial Research Institute for Automation and Measurements PIAP, Warsaw, Poland

    Cezary Zieliński

  3. Industrial Research Institute for Automation and Measurements PIAP, Warsaw, Poland

    Małgorzata Kaliczyńska

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Gardecki, S., Kasiński, A., Bondyra, A., Ga̧sior, P. (2017). Multirotor Aerial Platform with Manipulation System - Static Disturbances. In: Szewczyk, R., Zieliński, C., Kaliczyńska, M. (eds) Automation 2017. ICA 2017. Advances in Intelligent Systems and Computing, vol 550. Springer, Cham. https://doi.org/10.1007/978-3-319-54042-9_33

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  • DOI: https://doi.org/10.1007/978-3-319-54042-9_33

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-54041-2

  • Online ISBN: 978-3-319-54042-9

  • eBook Packages: EngineeringEngineering (R0)

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