[en] Aerial manipulators (AM) exhibit particularly challenging, non-linear dynamics; the UAV and its manipulator form a tightly coupled dynamic system, mutually impacting each other. The mathematical model describing these dynamics forms the core of many solutions in non-linear control and deep reinforcement learning. Traditionally, the formulation of the dynamics involves Euler angle parametrization in the Lagrangian framework or quaternion parametrization in the Newton-Euler framework. The former has the disadvantage of giving birth to singularities and the latter being algorithmically complex. This work presents a hybrid solution, combining the benefits of both, namely a quaternion approach leveraging the Lagrangian framework, connecting the singularity-free parameterization with the algorithmic simplicity of the Lagrangian approach. We do so by offering detailed insights into the kinematic modeling process and the formulation of the dynamics of a general
aerial manipulator. The obtained dynamics model is validated experimentally against a real-time physics engine. A practical application of the obtained dynamics model is shown in the context of a computed torque feedback controller (feedback linearization), where we analyze its real-time capability with increasingly complex AM models.
Disciplines :
Sciences informatiques
Auteur, co-auteur :
KREMER, Paul ; University of Luxembourg > Faculty of Science, Technology and Medicine (FSTM) > Automation
SANCHEZ LOPEZ, Jose Luis ; University of Luxembourg > Interdisciplinary Centre for Security, Reliability and Trust (SNT) > Automation
VOOS, Holger ; University of Luxembourg > Interdisciplinary Centre for Security, Reliability and Trust (SNT) > Automation
Co-auteurs externes :
no
Langue du document :
Anglais
Titre :
A Hybrid Modelling Approach For Aerial Manipulators
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