VISION BASED FOUR DEGREE OF FREEDOM ROBOTIC ARM GRIPPER EQUIPPED IN A SIX DEGREE OF FREEDOM ROTOR CRAFT
Some decisions have been taken by a heuristic method since the related issues were out of the scope of this research. The sampling time and the prediction and control horizon have been chosen in order to properly run the simulations and verify the tests but in any case they have been optimized to ru
2025-06-28 16:36:39 - Adil Khan
VISION BASED FOUR DEGREE OF FREEDOM ROBOTIC ARM GRIPPER EQUIPPED IN A SIX DEGREE OF FREEDOM ROTOR CRAFT
Project Area of Specialization RoboticsProject SummarySome decisions have been taken by a heuristic method since the related issues were out of the scope of this research. The sampling time and the prediction and control horizon have been chosen in order to properly run the simulations and verify the tests but in any case they have been optimized to run the proposed algorithm at the fastest velocity. The aim of this research is to design a hybrid strategy for a simulation environment, so the code is not optimized to be used in real time. During this research, parameters chosen to design the model of the rotorcraft and the arm have been mixed from different literature references. However, all the values selected will be verified to ensure that they were real and possible values. The performance and stability of its trajectory will taken into account within this study.
Project ObjectivesThe main goal of this research is to make a new and novel MRAC based robust hybrid control strategy to control a rotorcraft. The new feature is added, that is rotorcraft has a robotic arm attached to its body and the proposed controller should compensate the perturbations generated by the motion of this arm.
This research has the aim of developing a first approach of a controller able to manage these perturbations. More specific objectives have been proposed as follows:
- Designing an algorithm to study the viability of the control strategy (given features such as complexity, computational burden, etc.).
- Discretizing and implementing in Matlab environment the dynamic equations of the rotorcraft with the robotic arm.
- Coupling the dynamic effects of the rotorcraft and the arm.
- Build a real parametrized model of a rotorcraft and a robotic arm.
- Designing an MRAC based robust hybrid control algorithm to control the dynamics and carry the system to specific operational points.
- Analyzing the behavior of the rotorcraft while it is holding a position and the arm is in a fixed pose or in movement.
- Analyzing the behavior of the rotorcraft while it is in movement and the arm is in a fixed pose or in movement.
UAVs platforms range from very big aerial vehicles with tens of meters wingspan to micro and even Nano vehicles with grams of weight and millimeters wing-span. Aerial robots are now using new navigation sensors, actuators, embedded control and communication components, including miniature components with significant capabilities. Thus, in addition to electrical helicopters and fixed wing aircrafts with a higher payload, multi-rotor systems (quadcopters, hexacopters or octocopters) have been developed. In many applications rotary wing aerial platforms are preferred due to vertical takeoff and landing and hovering capabilities, and a greater dexterity compared with fixed wing vehicles. Aerial robotics activities still require the development of new algorithms and technologies, for accurate positioning and trajectory tracking. The enhancement of perception and planning capabilities, control robustness, flight and payload limitations and the reliability of hardware and software subsystems are among the most relevant open research problems.
Benefits of the ProjectIn the last years, there has been an increasing importance of rotorcrafts in our society and also of the tasks that they can do. There is a need for extending the capabilities of a rotorcrafts to satisfy the increasing demand of new services from some companies. The motivation of this research is to design a Nonlinear MRAC based robust hybrid control algorithm for a UAV in which robotic arm is attached to its body. Most of the literature reports methods about how to control an Unmanned Aerial Vehicle (UAV) applying an adaptive control, model predictive control to a linearized a system model. Moreover, many are focused on finding an appropriate mathematical model that explains most of the dynamic effects that occur during maneuvering tasks. This rotorcraft will have to be able to cooperate with other robots in order to accomplish different goals like surveillance, assembly of structures or to track and detect objects. With this research a new approach to control a with a robotic arm is going to be presented
Technical Details of Final DeliverableNaza N1 controller DJI
R9DS for communication between UAV and controller
Ardinuo controller for controlling joystick
playstation controller to control robotic arm
camera
LCD screen
VTX Transciever
HEX copter
Main joypad for UAV controlling
Final Deliverable of the Project Hardware SystemType of Industry IT Technologies Artificial Intelligence(AI), RoboticsSustainable Development Goals Quality EducationRequired Resources| Item Name | Type | No. of Units | Per Unit Cost (in Rs) | Total (in Rs) |
|---|---|---|---|---|
| Total in (Rs) | 70000 | |||
| Naza N1 controller DJ1 | Equipment | 1 | 12000 | 12000 |
| R9DS controller | Equipment | 1 | 8000 | 8000 |
| Ardinuo controller | Equipment | 1 | 2000 | 2000 |
| play station controller | Equipment | 1 | 1000 | 1000 |
| camera | Equipment | 1 | 3000 | 3000 |
| LCD screen | Equipment | 1 | 10000 | 10000 |
| VTX Transciever | Equipment | 1 | 12000 | 12000 |
| HEX copter | Equipment | 1 | 18000 | 18000 |
| Main joypad for UAV controlling | Equipment | 1 | 4000 | 4000 |