TUD

Institut für Automatisierungstechnik

Robotik

Studien- und Diplomarbeit

AERIAL MANIPULATION

In recent years, the field of unmanned aerial vehicles (UAVs) was of great interest to research groups. Extending the functionality of the UAVs to interact with their environment will present new opportunities and enable exciting applications in the future. Our aerial manipulator is composed of a hexarotor with (fixed/ variable) tilted rotors and a serial manipulator, which is still being developed. The UAV is characterized by 6-DOF while the manipulator will operate with 3 to 5-DOF.

Software:

  • Robot Operating System (ROS)
  • Gazebo
  • MATLAB/Simulink
  • Qt (only necessary for UI Design)

Requirements:

  • Familiar with Linux
  • Good score in related courses (mathematics, modeling, control theory and robotics)
  • Familiar with Git
  • Advanced Matlab/Simulink skills
  • Excellent C++ programming skills
  • CAD skills (only necessary for mechanical design tasks)

Current tasks:

  • Modeling of the aerial manipulator (UAV+Arm) 
  • Static-hover-ability analysis in case of rotor failure
  • Controllability analysis in case of joint or propeller failure
  • Advanced motion control of the over-actuated multirotor (Improvement of existing approaches: SMC, BC and Feedback-Linearization)
  • Motion planning of the aerial manipulator

Ansprechpartner:
Dipl.-Ing. Chao Yao

Stand: 24.09.2019 15:21
Autor: Webmaster IFA