Control no lineal de robots manipuladores aéreos basado en métodos numéricos.

Abstract

This work proposes a kinematic modelling and a non-linear kinematic controller for an autonomous aerial mobile manipulator robot that generates velocity commands for trajectory tracking problem. The kinematic modelling is considered using a hexarotor system and robotic arm. The stability and robustness of the entire control system are tested by this method. Finally, the experiment results are presented and discussed, and validate the proposed controller.