TY - GEN
T1 - Motion control and design of an aerial robotic system
AU - Nikkhah, Mehdi
AU - Ashrafiuon, Hashem
AU - Dougherty, Edmond J.
PY - 2006/1/1
Y1 - 2006/1/1
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=33751309387&partnerID=8YFLogxK
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U2 - 10.1115/detc2006-99510
DO - 10.1115/detc2006-99510
M3 - Conference contribution
AN - SCOPUS:33751309387
SN - 079183784X
SN - 9780791837849
T3 - Proceedings of the ASME Design Engineering Technical Conference
BT - Proceedings of 2006 ASME International Design Engineering Technical Conferences and Computers and Information In Engineering Conference, DETC2006
PB - American Society of Mechanical Engineers (ASME)
T2 - 2006 ASME International Design Engineering Technical Conferences and Computers and Information In Engineering Conference, DETC2006
Y2 - 10 September 2006 through 13 September 2006
ER -