Aerial manipulation. ([2018])

• Record Type: Book
• Further Information: Note: Matko Orsag, Christopher Korpela, Paul Oh, Stjepan Bogdan.
• Authors: Orsag, Matko; Korpela, Christopher; Oh, Paul Y; Bogdan, Stjepan
• Contents: Series Editors' Foreword; Preface; Acknowledgements; Contents; 1 Introduction; 1.1 The State of the Art and Future of Aerial Robotics; 1.1.1 Physical Interactions; 1.1.2 Aerial Manipulation; 1.1.3 The Design of Aerial Manipulation Systems; 1.1.4 Applications; 1.1.5 Conclusions and Future of Aerial Robotics; 1.2 Structure of the Book; References; 2 Coordinate Systems and Transformations; 2.1 Coordinate Systems; 2.1.1 Global Coordinate System; 2.1.2 Local Coordinate System; 2.1.3 Coordinate System Representation; 2.2 Coordinate Transformations; 2.2.1 Orientation Representation 2.2.2 Euler Angles2.2.3 Change of Frame; 2.2.4 Translation and Rotation; 2.3 Motion Kinematics; 2.3.1 Linear and Angular Velocities; 2.3.2 Rotational Transformations of a Moving Body; References; 3 Multirotor Aerodynamics and Actuation; 3.1 The Aerodynamics of Rotary Flight; 3.1.1 Momentum Theory; 3.1.2 Blade Element Theory; 3.2 Different Multirotor Configurations; 3.2.1 Coplanar Configuration of Propulsors; 3.2.2 Independent Control of All 6 DOF; 3.3 Aerial Manipulation Actuation; 3.3.1 DC Motor; 3.3.2 Brushless DC Motor; 3.3.3 Servo Drives; 3.3.4 2-Stroke Internal Combustion Engine 5.1.1 Forward Equations in Fixed Base Coordinate System5.1.2 Forward Equations in a UAV (Moving) Coordinate System; 5.1.3 Multiple Rigid Body System Mass and Moment of Inertia; 5.1.4 Backward Equations; 5.2 Lagrange -- Euler Model; 5.2.1 Aerial Robot Kinetic Energy; 5.2.2 Moment of Inertia; 5.3 Dynamics of Aerial Manipulator in Contact with Environment; 5.3.1 Momentary Coupling; 5.3.2 Loose Coupling; 5.3.3 Strong Coupling; References; 6 Sensors and Control; 6.1 Sensors; 6.1.1 Inertial Measurement Unit; 6.1.2 Cameras; 6.1.3 GPS; 6.1.4 Motion Capture; 6.2 Sensor Fusion 6.2.1 Attitude Estimation6.2.2 Position Estimation; 6.3 Linear Control System; 6.3.1 Attitude Control; 6.3.2 Position Control; 6.4 Robust and Adaptive Control Applications; 6.4.1 Gain Scheduling; 6.4.2 Model Reference Adaptive Control; 6.4.3 Backstepping Control; 6.4.4 Hsia -- a Robust Adaptive Control Approach; 6.5 Impedance Control; 6.6 Switching Stability of Coupling Dynamics; References; 7 Mission Planning and Control; 7.1 Path Planning; 7.1.1 Trajectory Generation; 7.2 Obstacle-Free Trajectory Planning; 7.2.1 Local Planner; 7.2.2 Global Planner; 7.3 Vision-Guided Aerial Manipulation
• Publisher Details: Cham, Switzerland : Springer
• Publication Date: 2018
• Copyright Date: 2018
• Extent: 1 online resource
• Subjects: 629.132/6; 620; Engineering; Drone aircraft -- Control systems; TECHNOLOGY & ENGINEERING / Engineering (General); Drone aircraft -- Control systems; Engineering; Control; Robotics and Automation; Aerospace Technology and Astronautics; Technology & Engineering -- Robotics; Technology & Engineering -- Aeronautics & Astronautics; Robotics; Aerospace & aviation technology; Astronautics; Technology & Engineering -- Automation; Automatic control engineering; Electronic books
• Languages: English
• ISBNs: 9783319610221; 3319610228
• Related ISBNs: 9783319610207; 3319610201
• Notes: Note: Includes bibliographical references and index.; Note: Online resource; title from PDF title page (SpringerLink, viewed October 3, 2017).
• Access Rights: Legal Deposit; Only available on premises controlled by the deposit library and to one user at any one time; The Legal Deposit Libraries (Non-Print Works) Regulations (UK).
• Access Usage: Restricted: Printing from this resource is governed by The Legal Deposit Libraries (Non-Print Works) Regulations (UK) and UK copyright law currently in force.