Abstract:
This research introduces a 3 DOF manipulator
which is capable of mounting on top of a multirotor aerial
vehicle (MAV). It was developed by considering desirable factors
like weight reduction, reachable workspace, minimizing
the inertia variation and center of mass variation. Reachable
workspace for the developed manipulator was identified by
computer simulations. A mathematical relationship between the
manipulator movements and the inertia variation was obtained.
Manipulator movements deviate the initial center of mass of the
aerial manipulator which will differ the dynamics of the overall
multirotor manipulation system. Therefore, the relationship for
the manipulator center of mass variation was obtained with
respect to a given general cubic polynomial trajectory. Hence,
designing a controller for the overall aerial manipulation can be
done while considering the center of mass and inertia variation
of the manipulator. This approach will be more effective in
disturbance compensation of the aerial vehicle.
