TELEOPERATION AND CONTROL OF AN AERIAL MANIPULATOR USING A VIRTUAL REALITY SYSTEM

dc.contributorGerardo Flores
dc.creatorCarlos Rivera
dc.date2022-06
dc.date.accessioned2023-07-21T15:15:57Z
dc.date.available2023-07-21T15:15:57Z
dc.identifierhttp://cio.repositorioinstitucional.mx/jspui/handle/1002/1264
dc.identifier.urihttps://repositorioslatinoamericanos.uchile.cl/handle/2250/7726018
dc.description"The present work is about the simulation of an aerial manipulator with a 2DoF robotic arm. The Unmanned Aerial Vehicle and robotic arm’s mathematical modeling is obtained. The manipulator’s modeling is made through the Newton-Euler algorithm and leads to a Lagrangian expression form. A geometric controller on SE(3) is designed for angular velocity considering angular velocity errors to converge to zero using the Lyapunov direct method. Also, a position controller is designed to compute the thrust force produced by the rotors. A Proportional-Derivative joint controller is designed to compute the manipulator joint torques."
dc.formatapplication/pdf
dc.languageeng
dc.relationcitation:Rivera Quezada, (2022). "Teleoperation and control of an aerial manipulator using a virtual reality system". Tesis de Maestría en Optomecatrónica. Centro de Investigaciones en Óptica, A.C. León, Guanajuato. 68 pp.
dc.rightsinfo:eu-repo/semantics/openAccess
dc.rightshttp://creativecommons.org/licenses/by-nc-nd/4.0
dc.subjectinfo:eu-repo/classification/Autor/Teleoperation
dc.subjectinfo:eu-repo/classification/Autor/Control
dc.subjectinfo:eu-repo/classification/Autor/Aerial manipulator
dc.subjectinfo:eu-repo/classification/Autor/Virtual reality
dc.subjectinfo:eu-repo/classification/Autor/Robotic arm
dc.subjectinfo:eu-repo/classification/Autor/Aerial vehicle
dc.subjectinfo:eu-repo/classification/cti/7
dc.subjectinfo:eu-repo/classification/cti/33
dc.subjectinfo:eu-repo/classification/cti/33
dc.titleTELEOPERATION AND CONTROL OF AN AERIAL MANIPULATOR USING A VIRTUAL REALITY SYSTEM
dc.typeinfo:eu-repo/semantics/masterThesis
dc.typeinfo:eu-repo/semantics/acceptedVersion
dc.coverageLeón, Guanajuato
dc.audiencelibrarians
dc.audiencestudents
dc.audienceresearchers
dc.audiencegeneralPublic


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