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Αρπαγή αντικειμένου από εναέριο ρομποτικό όχημα

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National Technical University of Athens   

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Αρπαγή αντικειμένου από εναέριο ρομποτικό όχημα (EL)
Αγγελόπουλος, Αλέξανδρος (EL)
Angelopoulos, Alexandros (EN)
ntua (EL)
Αντωνιάδης, Ιωάννης (EL)
Κυριακόπουλος, Κωνσταντίνος (EL)
bachelorThesis
2015-10-15
2016-02-10T14:04:57Z
2016-02-10
The objective of this thesis is to equip a commercial hexarotor vehicle with a robot hand and attempt to control its movement in an effort to grasp an object by tracking a 3D dynamic trajectory. Aiming for a bio-inspired approach, the platform will have to withstand the impact forces generated during grasping and deploy its strategy to minimize the outcome of the impact. The impact analysis conducted, establishes the terminal conditions for the tra- jectory before grasping the object, while the findings of this analysis can help us predict the outcome. After grasping the object, the task is to hover in a location near the impact point. These tasks are performed by two individual non linear model predictive controllers which create and transmit attitude commands. The controller used for approaching the target has a variable time horizon because the final state of the vehicle is non-equilibrium. AscTec Firefly, which is part of the Ascending Technologies research line, was set up and used for the experiments, receiving feedback only from onboard sensors. Being the first time that Firefly was used as an experimental platform in the Control Systems Laboratory of NTUA, extended analysis of the provided interfaces, quality of sensors, identification of model parameters and guidelines of proper usage have been determined and are included in the thesis. The robot hand which was constructed is part of the OpenBionics project and has been redesigned to fit our experimental setup. The main advantage of the gripper’s design is its ability to grasp safely a variety of different shapes while using a single motor keeping the extra payload low. (EN)
Ρομποτικό χέρι (EL)
Εναέρια ρομποτική (EL)
Μη γραμμικός προβλεπτικός έλεγχος (EL)
Έλεγχος στον καρτεσιανό χώρο με οπτική ανατροφοδότηση (EL)
Επενέργια εναέριου οχήματος (EL)
Nonlinear model predictive control (EN)
Aerial manipulation (EN)
Position based visual servoing (EN)
Robot hand (EN)
Aerial robotics (EN)
Greek
English
Εθνικό Μετσόβιο Πολυτεχνείο. Σχολή Μηχανολόγων Μηχανικών. Τομέας Μηχανολογικών Κατασκευών και Αυτομάτου Ελέγχου. Εργαστήριο Αυτομάτου Ελέγχου και Ρυθμίσεως Μηχανών και Εγκαταστάσεων (EL)
Αναφορά Δημιουργού-Μη Εμπορική Χρήση-Όχι Παράγωγα Έργα 3.0 Ελλάδα
http://creativecommons.org/licenses/by-nc-nd/3.0/gr/
National Technical University of Athens
Digital Library of National Technical University of Athens | Dspace@NTUA
Κεντρική Βιβλιοθήκη Ε.Μ.Π.
Ιδρυματικό Αποθετήριο
Διπλωματικές Εργασίες



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