Dynamic Models of Unmanned Aerial Vehicle Manipulator Control and Stabilization

Purpose or research. Improving guidance accuracy of robotic capture mounted on an unmanned aerial vehicle and the stability of combined aerial manipulation system is the main objective of this study. In order to achieve this goal, a particular task of developing a manipulator control system that considers joint working space of manipulator and unmanned aerial vehicle has been solved.
Methods. Kinematic model of a manipulator with three degrees of freedom is proposed in this work. This is a part of air manipulation system of quadrotor. Rotary movement of two successive links is performed by means of hinge joint. Direct and inverse kinematic tasks were solved for this manipulator. Equations for dynamic model were also obtained. Dynamic response of each link is sufficient for quick stabilization of the system with little re-adjustment. Self-tuning fuzzy proportional-integral-differentiating (PID) regulator was developed based on these data to control the manipulator. Control system for each manipulator link consists of a PID regulator and a fuzzy PID output using Mamdani method.
Results. Simulation of developed manipulator control system was carried out in the absence of disturbances. The proposed control system satisfies specified requirements and ensures continuous and smooth movement of manipulator links in calculated trajectory.
Conclusion. The developed three-link manipulator motion control method provides a horizontal mass center shift not more than 1.25 mm, which is an acceptable result for rapid stabilization of unmanned aerial manipulator and further practical experiments.

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