Constrained Dynamics of an Aerial Manipulator Interacting With Flexible Cantilever Beams

Show simple item record Souza, Pedro Henrique Mendes Stol, Karl 2023-02-22T22:01:37Z 2023-02-22T22:01:37Z 2022
dc.identifier.citation (2022). IEEE-ASME Transactions on Mechatronics, PP(99), 1-9.
dc.identifier.issn 1083-4435
dc.description.abstract Aerial manipulation poses complex challenges for aircraft design, modeling, and control, especially when dealing with nonlinear continuous systems. This article explores the coupled dynamics of a fully actuated aerial vehicle when interacting with a cantilever beam undergoing large deflections, focusing on achieving a more accurate model and identifying the challenges involved in this task. The analysis can be applied to prolonged interactions, such as tree branch deflection or long reach manipulation. Based on the Udwadia–Kalaba formulation, the presented model follows a relatively simple and systematic approach for imposing constraints without Lagrange multipliers. The resulting constrained equation of motion is obtained in closed form and captures the essential characteristics of the interaction: kinematic constraints and geometric nonlinearities. Furthermore, simulation and experiments demonstrate the feasibility and performance limitations of using a linear motion controller and how end-effector configuration can affect stability.
dc.publisher Institute of Electrical and Electronics Engineers (IEEE)
dc.relation.ispartofseries IEEE/ASME Transactions on Mechatronics
dc.rights Items in ResearchSpace are protected by copyright, with all rights reserved, unless otherwise indicated. Previously published items are made available in accordance with the copyright policy of the publisher.
dc.subject 0906 Electrical and Electronic Engineering
dc.subject 0910 Manufacturing Engineering
dc.subject 0913 Mechanical Engineering
dc.title Constrained Dynamics of an Aerial Manipulator Interacting With Flexible Cantilever Beams
dc.type Journal Article
dc.identifier.doi 10.1109/tmech.2022.3218887
pubs.issue 99
pubs.begin-page 1
pubs.volume PP 2023-01-11T03:13:44Z
dc.rights.holder Copyright: The authors en
pubs.end-page 9
pubs.publication-status Published
dc.rights.accessrights en
pubs.subtype Journal Article
pubs.elements-id 944310 Engineering Mechanical Engineering
dc.identifier.eissn 1941-014X
pubs.record-created-at-source-date 2023-01-11 2022-11-18

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