Αρπαγή αντικειμένου από εναέριο ρομποτικό όχημα

Αγγελόπουλος, Αλέξανδρος; Angelopoulos, Alexandros

dc.contributor.author	Αγγελόπουλος, Αλέξανδρος	el
dc.contributor.author	Angelopoulos, Alexandros	en
dc.date.accessioned	2016-02-10T14:04:57Z
dc.date.available	2016-02-10T14:04:57Z
dc.date.issued	2016-02-10
dc.identifier.uri	https://dspace.lib.ntua.gr/xmlui/handle/123456789/41982
dc.identifier.uri	http://dx.doi.org/10.26240/heal.ntua.6305
dc.rights	Αναφορά Δημιουργού-Μη Εμπορική Χρήση-Όχι Παράγωγα Έργα 3.0 Ελλάδα	*
dc.rights.uri	http://creativecommons.org/licenses/by-nc-nd/3.0/gr/	*
dc.subject	Aerial manipulation	en
dc.subject	Aerial robotics	en
dc.subject	Robot hand	en
dc.subject	Nonlinear model predictive control	en
dc.subject	Επενέργια εναέριου οχήματος	el
dc.subject	Εναέρια ρομποτική	el
dc.subject	Ρομποτικό χέρι	el
dc.subject	Μη γραμμικός προβλεπτικός έλεγχος	el
dc.subject	Position based visual servoing	en
dc.subject	Έλεγχος στον καρτεσιανό χώρο με οπτική ανατροφοδότηση	el
dc.title	Αρπαγή αντικειμένου από εναέριο ρομποτικό όχημα	el
heal.type	bachelorThesis
heal.secondaryTitle	Aggressive grasping by an aerial robotic multirotor	en
heal.classification	Ρομποτική	el
heal.classification	Αυτόματος έλεγχος	el
heal.language	el
heal.language	en
heal.access	free
heal.recordProvider	ntua	el
heal.publicationDate	2015-10-15
heal.abstract	The objective of this thesis is to equip a commercial hexarotor vehicle with a robot hand and attempt to control its movement in an effort to grasp an object by tracking a 3D dynamic trajectory. Aiming for a bio-inspired approach, the platform will have to withstand the impact forces generated during grasping and deploy its strategy to minimize the outcome of the impact. The impact analysis conducted, establishes the terminal conditions for the tra- jectory before grasping the object, while the findings of this analysis can help us predict the outcome. After grasping the object, the task is to hover in a location near the impact point. These tasks are performed by two individual non linear model predictive controllers which create and transmit attitude commands. The controller used for approaching the target has a variable time horizon because the final state of the vehicle is non-equilibrium. AscTec Firefly, which is part of the Ascending Technologies research line, was set up and used for the experiments, receiving feedback only from onboard sensors. Being the first time that Firefly was used as an experimental platform in the Control Systems Laboratory of NTUA, extended analysis of the provided interfaces, quality of sensors, identification of model parameters and guidelines of proper usage have been determined and are included in the thesis. The robot hand which was constructed is part of the OpenBionics project and has been redesigned to fit our experimental setup. The main advantage of the gripper’s design is its ability to grasp safely a variety of different shapes while using a single motor keeping the extra payload low.	en
heal.advisorName	Κυριακόπουλος, Κωνσταντίνος	el
heal.committeeMemberName	Αντωνιάδης, Ιωάννης	el
heal.committeeMemberName	Κυριακόπουλος, Κωνσταντίνος	el
heal.academicPublisher	Εθνικό Μετσόβιο Πολυτεχνείο. Σχολή Μηχανολόγων Μηχανικών. Τομέας Μηχανολογικών Κατασκευών και Αυτομάτου Ελέγχου. Εργαστήριο Αυτομάτου Ελέγχου και Ρυθμίσεως Μηχανών και Εγκαταστάσεων	el
heal.academicPublisherID	ntua
heal.numberOfPages	81 σ.
heal.fullTextAvailability	true