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http://cio.repositorioinstitucional.mx/jspui/handle/1002/1264| TELEOPERATION AND CONTROL OF AN AERIAL MANIPULATOR USING A VIRTUAL REALITY SYSTEM | |
| Carlos Rivera | |
| Gerardo Flores | |
| Acceso Abierto | |
| Atribución-NoComercial-SinDerivadas | |
| Teleoperation Control Aerial manipulator Virtual reality Robotic arm Aerial vehicle | |
| "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." | |
| 2022-06 | |
| Tesis de maestría | |
| Inglés | |
| León, Guanajuato | |
| Bibliotecarios Estudiantes Investigadores Público en general | |
| 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. | |
| CIENCIAS TECNOLÓGICAS | |
| Versión aceptada | |
| acceptedVersion - Versión aceptada | |
| Aparece en las colecciones: | MAESTRIA EN OPTOMECATRÓNICA |
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| Fichero | Descripción | Tamaño | Formato | |
|---|---|---|---|---|
| 18207.pdf | Texto completo / Full text | 3.85 MB | Adobe PDF | Visualizar/Abrir |