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Dual Quaternion Modeling and Control of a Quad-rotor Aerial Manipulator

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Abstract

This contribution presents a modeling technique for an aerial manipulator based on a quad-rotor vehicle provided with a robotic arm. Dual quaternions, which are a little explored but powerful mathematical tool, are proposed as an alternative to the classical Euler angles approach for the kinematic and dynamic modeling. A feedback control law based on dual quaternions is used to validate the proposed model, taking into account the external effects of the robotic limb. Numerical simulations and experiments validate the proposal, opening a path for future research.

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Acknowledgments

The flight tests were realized at the LAFMIA UMI CNRS 3175 laboratory at CINVESTAV - IPN, Mexico. We want to thank them for their support.

This work was partially done in the context of a master thesis supported by the CONACYT’s program for postgraduate scholarships.

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Authors and Affiliations

  1. Sorbonne Universités, Université de Technologie de Compiègne, CNRS, Heudiasyc UMR 7253, CS 60 319, 60 203, Compiègne Cedex, France

    H. Abaunza, P. Castillo, A. Victorino & R. Lozano

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  1. H. Abaunza
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  2. P. Castillo
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  3. A. Victorino
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  4. R. Lozano
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Correspondence to H. Abaunza.

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Abaunza, H., Castillo, P., Victorino, A. et al. Dual Quaternion Modeling and Control of a Quad-rotor Aerial Manipulator. J Intell Robot Syst 88, 267–283 (2017). https://doi.org/10.1007/s10846-017-0519-4

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  • DOI: https://doi.org/10.1007/s10846-017-0519-4

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