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

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 a...

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Bibliographic Details
Published in:Journal of intelligent & robotic systems 2017-12, Vol.88 (2-4), p.267-283
Main Authors: Abaunza, H., Castillo, P., Victorino, A., Lozano, R.
Format: Article
Language:English
Subjects:
Artificial Intelligence
Automatic Control Engineering
Computer Science
Computer simulation
Control
Dynamic models
Electrical Engineering
Engineering
Euler angles
Feedback control
Manipulators
Mathematical analysis
Mathematical models
Mechanical Engineering
Mechatronics
Quaternions
Robot arms
Robotics
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Summary: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.
ISSN:0921-0296
1573-0409
DOI:10.1007/s10846-017-0519-4