NDLI: Motion Control and Design of an Aerial Robotic System

Content Provider	The American Society of Mechanical Engineers (ASME) Digital Collection
Author	Nikkhah, Mehdi Ashrafiuon, Hashem Edmond, J. Dougherty
Copyright Year	2006
Abstract	This research examines the dynamics and control of an aerial robotic system to determine its feasibility and general design features. The robotic system consists of a cable driven trolley and a camera platform suspended and controlled by six cables designed in a configuration similar to the Stewart platform. The camera and trolley cables are driven through winches controlled by electric motors. An algorithm is developed based on the sliding mode approach to simultaneous control the trolley trajectory and the full three-dimensional camera linear and rotational motion. Trolley cable flexibility and fundamental vibration mode is included in the analysis though not directly controlled at this stage. Wind forces are also included in the model as unknown but bound disturbances. A working prototype of the system has also been developed and its general features are introduced in this paper.
Sponsorship	Design Engineering Division and Computers and Information in Engineering Division
Starting Page	877
Ending Page	883
Page Count	7
File Format	PDF
ISBN	0791842568
DOI	10.1115/DETC2006-99510
e-ISBN	079183784X
Volume Number	Volume 2: 30th Annual Mechanisms and Robotics Conference, Parts A and B
Conference Proceedings	ASME 2006 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
Language	English
Publisher Date	2006-09-10
Publisher Place	Philadelphia, Pennsylvania, USA
Access Restriction	Subscribed
Subject Keyword	Design Wind Algorithms Vibration Dynamics (mechanics) Trajectories (physics) Motion control Engineering prototypes Rotation Robotics Cables Electric motors
Content Type	Text
Resource Type	Article

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