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Aerial Manipulation

  • Matko Orsag
  • Christopher Korpela
  • Paul Oh
  • Stjepan Bogdan

Part of the Advances in Industrial Control book series (AIC)

Table of contents

  1. Front Matter
    Pages i-xv
  2. Anibal Ollero
    Pages 1-18
  3. Matko Orsag, Christopher Korpela, Paul Oh, Stjepan Bogdan
    Pages 19-31
  4. Matko Orsag, Christopher Korpela, Paul Oh, Stjepan Bogdan
    Pages 33-85
  5. Matko Orsag, Christopher Korpela, Paul Oh, Stjepan Bogdan
    Pages 87-122
  6. Matko Orsag, Christopher Korpela, Paul Oh, Stjepan Bogdan
    Pages 123-163
  7. Matko Orsag, Christopher Korpela, Paul Oh, Stjepan Bogdan
    Pages 165-208
  8. Matko Orsag, Christopher Korpela, Paul Oh, Stjepan Bogdan
    Pages 209-231
  9. Anibal Ollero
    Pages E1-E1
  10. Back Matter
    Pages 233-235

About this book

Introduction

This text is a thorough treatment of the rapidly growing area of aerial manipulation. It details all the design steps required for the modeling and control of unmanned aerial vehicles (UAV) equipped with robotic manipulators. Starting with the physical basics of rigid-body kinematics, the book gives an in-depth presentation of local and global coordinates, together with the representation of orientation and motion in fixed- and moving-coordinate systems. Coverage of the kinematics and dynamics of unmanned aerial vehicles is developed in a succession of popular UAV configurations for multirotor systems. Such an arrangement, supported by frequent examples and end-of-chapter exercises, leads the reader from simple to more complex UAV configurations. Propulsion-system aerodynamics, essential in UAV design, is analyzed through blade-element and momentum theories, analysis which is followed by a description of drag and ground-aerodynamic effects.

The central part of the book is dedicated to aerial-manipulator kinematics, dynamics, and control. Based on foundations laid in the opening chapters, this portion of the book is a structured presentation of Newton–Euler dynamic modeling that results in forward and backward equations in both fixed- and moving-coordinate systems. The Lagrange–Euler approach is applied to expand the model further, providing formalisms to model the variable moment of inertia later used to analyze the dynamics of aerial manipulators in contact with the environment. Using knowledge from sensor data, insights are presented into the ways in which linear, robust, and adaptive control techniques can be applied in aerial manipulation so as to tackle the real-world problems faced by scholars and engineers in the design and implementation of aerial robotics systems. The book is completed by path and trajectory planning with vision-based examples for tracking and manipulation.


 

Keywords

Aerial Manipulator Dynamics Control of Aerial Vehicles Control of Robotic Manipulators Coordinate Systems and Transformations Manipulator Kinematics Modelling of Aerial Vehicles Modelling of Robotic Manipulators Robotic Manipulators UAVs Unmanned Aerial Vehicles

Authors and affiliations

  • Matko Orsag
    • 1
  • Christopher Korpela
    • 2
  • Paul Oh
    • 3
  • Stjepan Bogdan
    • 4
  1. 1.Laboratory for Robotics and Intelligent Control Systems, Faculty of Electrical Engineering and ComputingUniversity of ZagrebZagrebCroatia
  2. 2.Department of Electrical Engineering and Computer ScienceUnited States Military AcademyWest PointUSA
  3. 3.Department of Mechanical EngineeringUniversity of Nevada Las VegasLas VegasUSA
  4. 4.Laboratory for Robotics and Intelligent Control Systems, Faculty of Electrical Engineering and ComputingUniversity of ZagrebZagrebCroatia

Bibliographic information

  • DOI https://doi.org/10.1007/978-3-319-61022-1
  • Copyright Information Springer International Publishing AG 2018
  • Publisher Name Springer, Cham
  • eBook Packages Engineering
  • Print ISBN 978-3-319-61020-7
  • Online ISBN 978-3-319-61022-1
  • Series Print ISSN 1430-9491
  • Series Online ISSN 2193-1577
  • Buy this book on publisher's site