A new tilted aerial robotic platform: Modeling and control

Aerial Manipulators are considered in modern applications due to their essential features that have the maneuverability of Unmanned Aerial Vehicles (UAVs) and abilities of robotics arms. One of the primary challenges encountered by aerial manipulators is their inability to maintain a consistent orientation though the duration of flight. This limits the application of aerial manipulators for movement of fragile and liquid objects that should not change their orientation during the flight. To solve this issue, this study introduced a new Aerial Robot Platform (AR-P) which can decouple all motions by configuring tilting rotors into the structure of the ARP. The AR-P consists of a Tilted-Rotor Quadcopter (T-RQ) and three linked Aerial Robot Arm (AR-A) that have a gripper to grasp objects. The AR-P with this new mechanism of tilting parts overcomes the problem of manipulation limitations by adjusting the direction of the thrusted rotors according to the exerted forces of the grasped object. The new dynamics model of the AR-P is derived using the Lagrange-d'Alembert approach. A special Multi Input Multi Output (MIMO) Proportional Derivative (PD) controller based on Computed Torque Control (CTC) is designed for the developed AR-P. The method of nonlinear least squares is applied to obtain the optimal gains of the over-looped PD controller. The simulation results showed the ability of the developed CTC to track the required joint angle of each the T-RQ and each link of the AR-A with minimizing steady state errors and without overshooting. The implemented controller showed its robustness against external disturbances in form of wind conditions. On one hand, the controller is tested considering traditional aerial manipulator. On the other hand, the controller is tested by our new tilted aerial robot platform. The comparison results of the flight scenario between the new tilted aerial manipulator and the traditional one approved the advantage of the proposed new tilted AR-P to transport the grasped objects in fixed orientation.