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| Year of publication | 2013 |
|---|---|
| Category | Others |
| Subject | |
| Title | 작업용 로봇팔을 장착한 무인기 시스템 연구 |
| Author | 조상욱 |
| Journal title | 학위논문(박사) |
| Publication date | 2013.02 |
| Volume & Other data | |
| Abstract | This these proposes a UAV(Unmanned Aerial Vehicle) control system satisfying accuracy and consistency of control performance as considering operation performance. There is the kind of work and operating environments that need to UAV. It is very inefficient to configure the system, depending on individual usage. So UAV system was divided into platform and equipment module. and it was designed independently to respond to a variety of environments. In operational UAV system, the platform has to compensate disturbance and follow the position and attitude command regardless of the kind of work. Equipment should work on the operation scenario regardless of the platform on flying. This system configuration which is divided into the platform and equipment independently guarantees a high operation performance. For this purpose, adaptive control techniques were applied to the platform control. and position control of equipment was performed using the inverse kinematics.
Because the dynamic characteristics of the model vary due to reaction force that typically varies during operation, there is a limit to performing precise work using classical control techniques. When work equipment has the fixed form, the variation can be calculated through a mathematical calculation. But for case of objects with varying forms such as a robotic arm, it is impossible to predict the solution exactly. So, to eliminate the control error, adaptive control techniques was applied to the platform control and it guaranteed accuracy and consistency of control performance. In order to verify the performance of the operational UAV system, it defined the functional requirements of each module based on the work at high-rise. The platform and robotic arm was designed independently considering the specifications. and the integration simulator of operational UAV system was developed in order to combine the two components. Combination of a platform weighted 400kgf and a robotic arm weighted 210kgf was tested for a variety of test cases in integrated simulations. Finally, the operational UAV system is worked in the pylon and it's performance was evaluated by simulation. |
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| File |  작업용 로봇팔을 장착한 무인기 시스템 연구.pdf (3.9M) [11] DATE : 2014-06-06 16:49:58 |
