Abstract
This work proposes a kinematic modelling and a non-linear kinematic controller for an autonomous aerial mobile manipulator robot that generates velocity commands for trajectory tracking problem. The kinematic modelling is considered using a hexarotor system and robotic arm. The stability and robustness of the entire control system are tested by this method. Finally, the experiment results are presented and discussed, and validate the proposed controller.
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Acknowledgements
The authors would like to thank the Corporación Ecuatoria-na para el Desarrollo de la Investigación and Academia CEDIA for the financing given to research, development, and innovation, through the CEPRA projects, especially the project CEPRA-XIII-2019-08; Sistema colaborativo de robots aéreos para manejar cargas con un consumo óptimo de recursos; also to Universidad de las Fuerzas Armadas ESPE, Escuela Superior Politécnica de Chimborazo, Universidad Nacional de Chimborazo, Universidad tecnológica Indoamérica, Universidad internacional de Ecuador, Universidad central de Venezuela, and Grupo de Investigación ARSI, for the support to develop this work.
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Grijalva, D.F., Alegría, J.A., Andaluz, V.H., Naranjo, C. (2020). Non-linear Control of Aerial Manipulator Robots Based on Numerical Methods. In: Fujita, H., Fournier-Viger, P., Ali, M., Sasaki, J. (eds) Trends in Artificial Intelligence Theory and Applications. Artificial Intelligence Practices. IEA/AIE 2020. Lecture Notes in Computer Science(), vol 12144. Springer, Cham. https://doi.org/10.1007/978-3-030-55789-8_9
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