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doctoral thesis
Model based motion planning for manipulation with heterogeneous robotic systems under constraints
Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing, 2023. urn:nbn:hr:168:323207
Ivanović, Antun
University of Zagreb
Faculty of Electrical Engineering and Computing

Institutional repository: FER Repository

Cite this document

Ivanović, A. (2023). Model based motion planning for manipulation with heterogeneous robotic systems under constraints (Doctoral thesis). Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing. Retrieved from https://urn.nsk.hr/urn:nbn:hr:168:323207

Ivanović, Antun. "Model based motion planning for manipulation with heterogeneous robotic systems under constraints." Doctoral thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, 2023. https://urn.nsk.hr/urn:nbn:hr:168:323207

Ivanović, Antun. "Model based motion planning for manipulation with heterogeneous robotic systems under constraints." Doctoral thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, 2023. https://urn.nsk.hr/urn:nbn:hr:168:323207

Ivanović, A. (2023). 'Model based motion planning for manipulation with heterogeneous robotic systems under constraints', Doctoral thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, accessed 16 February 2025, https://urn.nsk.hr/urn:nbn:hr:168:323207

Ivanović A. Model based motion planning for manipulation with heterogeneous robotic systems under constraints [Doctoral thesis]. Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing; 2023 [cited 2025 February 16] Available at: https://urn.nsk.hr/urn:nbn:hr:168:323207

A. Ivanović, "Model based motion planning for manipulation with heterogeneous robotic systems under constraints", Doctoral thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, Zagreb, 2023. Available at: https://urn.nsk.hr/urn:nbn:hr:168:323207

Metadata
TitleModel based motion planning for manipulation with heterogeneous robotic systems under constraints
Title (croatian)Na modelu zasnovano planiranje gibanja heterogenih robotskih sustava za manipuliranje uz ograničenja
AuthorAntun Ivanović
MentorMatko Orsag (mentor)
Committee memberStjepan Bogdan (predsjednik povjerenstva)
Committee memberIvana Palunko (član povjerenstva)
GranterUniversity of Zagreb
Faculty of Electrical Engineering and Computing
Zagreb
Defense date and country2023-06-14, Croatia
Scientific / art field,
discipline and subdiscipline		TECHNICAL SCIENCES
Computing
Universal decimal classification
(UDC)		004 - Computer science and technology. Computing. Data processing
Abstract
The core problem this thesis tackles are the effects produced by the underactuated nature of co-planar multirotors. To change their position, such vehicles first need to execute angular motion. This in turn displaces the manipulator end-effector, which needs to be addressed to successfully manipulate an object and complete the given task. By using the manipulator null space, it is possible to achieve the desired end-effector configuration, even though the multirotor attains some tilt angle. One way to correct the end-effector configuration is online, with an inverse kinematics solver in the loop. However, the inverse kinematics solution might not exist for a given end-effector configuration. Therefore, this thesis incorporates the aerial manipulator dynamical model in the motion planning procedure. First, a trajectory is planned without considering the roll and pitch angles of the multirotor. It is then executed in a simulation that consists of the aerial manipulator mathematical model and the controller structure. While executing the trajectory, the previously unknown roll and pitch angles are recorded. Based on the obtained full state trajectory, the end-effector configuration is corrected by employing the manipulator null space. The final, corrected trajectory is then executed by the system. This method is extensively tested in both simulation environment and real world experiments, employing a classical control, as well as the impedance force control.
Abstract (croatian)
Srž problema kojih se ova disertacija dotiče su posljedice svojstva podaktuiranosti koplanarnih višerotorskih letjelica. Naginjanjem tijela letjelice pomiče se i alat manipulatora, što treba uzeti u obzir kako bi se uspješno odradio zamišljeni zadatak. Korištenjem nul prostora manipulatora moguće je postići željenu konfiguraciju alata u prostoru, čak i dok je tijelo letjelice nagnuto za neki kut. Jedan od načina ispravljanja konfiguracije alata je korištenjem inverzne kinematike u upravljačkoj petlji za vrijeme izvođenja planiranog gibanja. Glavni nedostatak takvog pristupa je da rješenje za željenu konfiguraciju alata ne postoji. Kako bi se riješio navedeni problem, ova disertacija uključuje dinamički model bespilotnog zračnog manipulatora u proceduru planiranja gibanja. Prvi korak je planiranje željene trajektorije vrha alata manipulatora uz pretpostavku da su kutevi valjanja i poniranja letjelice jednaki nuli. Inicijalna trajektorija se izvodi pomoću matematičkog modela sustava, uz upravljačku strukturu koja odgovara konačnom sustavu. Za vrijeme izvođenja trajektorije se spremaju prethodno nepoznate veličine kuteva, na temelju kojih se konstruira vektor stanja sustava pomoću kojega se korigira konfiguracija vrha alata. Konačna trajektorija dobivena na ovaj način se nakon toga šalje na sustav. Opisana metoda je ispitana u simulacijskom okruženju te kroz eksperimente u stvarnom svijetu, uz korištenje standardnog upravljanja višerotorskom letjelicom i impedantnog upravljanja silom.
Keywords
Keywords (croatian)
Languageenglish
URN:NBNurn:nbn:hr:168:323207
Promotion2024
Study programmeTitle: Computer Science
Study programme type: university
Study level: postgraduate
Academic / professional title: Doktor znanosti (Doktor znanosti)
Type of resourceText
Extentx, 161 str. : graf. prikazi
File originBorn digital
Access conditionsOpen access
Terms of useLicence In copyright icon
Created on2024-02-22 08:23:12