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Theoretical developments and experimental evaluation of a novel collaborative multi-drones grasping and manipulation system Zof large objects.

Abstract : This thesis proposes a new concept of aerial manipulation robot named Flying Gripper that is intended to perform grasping, manipulating, and transporting of large objects autonomously. The Flying Gripper robot is composed of four quadrotors, four self-adaptive fingers and a body structure. The main contributions of these works are: (1) an original mechanical concept using multiple quadrotors to obtain full manipulability in SE(3) and taking advantage of their yaw rotations to actuate a self-adaptive and intrinsically safe grasping mechanism; (2) a wrench capability analysis method taking into account the equality and inequality constraints imposed by actuation limits, mechanical stops and equilibrium relations; (3) a model predictive controller to deal with unknown mass, inertia and center of mass due to the grasped object; (4) a Dynamic Control Allocation algorithm to distribute the control output in a way that guarantees the continuity of actuator's velocity, improves the energy efficiency and satisfies the robot mechanical limits.Numerical simulations and experimental tests have been carried out to validate the controller performances.
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https://tel.archives-ouvertes.fr/tel-03284256
Contributor : Abes Star :  Contact
Submitted on : Monday, July 12, 2021 - 2:28:13 PM
Last modification on : Wednesday, July 14, 2021 - 3:07:12 AM

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  • HAL Id : tel-03284256, version 1

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Zhongmou Li. Theoretical developments and experimental evaluation of a novel collaborative multi-drones grasping and manipulation system Zof large objects.. Automatic. École centrale de Nantes, 2021. English. ⟨NNT : 2021ECDN0019⟩. ⟨tel-03284256⟩

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