Motion control and design of an aerial robotic system

Mehdi Nikkhah, Hashem Ashrafiuon, Edmond J. Dougherty

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

This research examines the dynamics and control of an aerial robotic system to determine its feasibility and general design features. The robotic system consists of a cable driven trolley and a camera platform suspended and controlled by six cables designed in a configuration similar to the Stewart platform. The camera and trolley cables are driven through winches controlled by electric motors. An algorithm is developed based on the sliding mode approach to simultaneous control the trolley trajectory and the full three-dimensional camera linear and rotational motion. Trolley cable flexibility and fundamental vibration mode is included in the analysis though not directly controlled at this stage. Wind forces are also included in the model as unknown but bound disturbances. A working prototype of the system has also been developed and its general features are introduced in this paper.

Original languageEnglish (US)
Title of host publicationProceedings of 2006 ASME International Design Engineering Technical Conferences and Computers and Information In Engineering Conference, DETC2006
PublisherAmerican Society of Mechanical Engineers (ASME)
ISBN (Print)079183784X, 9780791837849
DOIs
StatePublished - Jan 1 2006
Externally publishedYes
Event2006 ASME International Design Engineering Technical Conferences and Computers and Information In Engineering Conference, DETC2006 - Philadelphia, PA, United States
Duration: Sep 10 2006Sep 13 2006

Publication series

NameProceedings of the ASME Design Engineering Technical Conference
Volume2006

Other

Other2006 ASME International Design Engineering Technical Conferences and Computers and Information In Engineering Conference, DETC2006
CountryUnited States
CityPhiladelphia, PA
Period9/10/069/13/06

ASJC Scopus subject areas

  • Modeling and Simulation
  • Mechanical Engineering
  • Computer Science Applications
  • Computer Graphics and Computer-Aided Design

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  • Cite this

    Nikkhah, M., Ashrafiuon, H., & Dougherty, E. J. (2006). Motion control and design of an aerial robotic system. In Proceedings of 2006 ASME International Design Engineering Technical Conferences and Computers and Information In Engineering Conference, DETC2006 (Proceedings of the ASME Design Engineering Technical Conference; Vol. 2006). American Society of Mechanical Engineers (ASME). https://doi.org/10.1115/detc2006-99510