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Design and control of a fast and precise aerial manipulator
Future applications of MAVs involve interaction and manipulation in environments that are out of reach of humans. Omnidirectional MAVs can tackle both quick navigation and omnidirectional force exertion during interaction. However, challenges arise close to obstacles where airflow interference cause
Keywords: omnidirectional MAV, aerial manipulation, mechanical design, control
The aim of this project is to develop a fast and lightweight aerial manipulator for high precision tasks in aerial interaction. The manipulator should be able to compensate for body disturbances, and maintain the end-effector position to millimeter accuracy. The project scope involves conceptual and detailed design, and prototyping of the manipulator, as well as control. The arm will be mounted on an omnidirectional MAV for real flight tests and evaluation.
The aim of this project is to develop a fast and lightweight aerial manipulator for high precision tasks in aerial interaction. The manipulator should be able to compensate for body disturbances, and maintain the end-effector position to millimeter accuracy. The project scope involves conceptual and detailed design, and prototyping of the manipulator, as well as control. The arm will be mounted on an omnidirectional MAV for real flight tests and evaluation.
- Literature study.
- Design and prototype of a fast and light aerial manipulator.
- Design and implementation of a control framework for the manipulator and base.
- Design of tests and testing of the complete system.
- Detailed evaluation of results and performance.
- Literature study. - Design and prototype of a fast and light aerial manipulator. - Design and implementation of a control framework for the manipulator and base. - Design of tests and testing of the complete system. - Detailed evaluation of results and performance.
- High motivation and interest in the topic.
- Methodological and goal-oriented working behaviour.
- Strong background in mechanical design.
- Experience programming in c++, knowledge of ROS.
- High motivation and interest in the topic. - Methodological and goal-oriented working behaviour. - Strong background in mechanical design. - Experience programming in c++, knowledge of ROS.
- Karen Bodie (karen.bodie@mavt.ethz.ch)
- Christian Lanegger (christian.lanegger@mavt.ethz.ch)
Your application should include a brief motivational statement, your transcript of records, and your CV.
- Karen Bodie (karen.bodie@mavt.ethz.ch) - Christian Lanegger (christian.lanegger@mavt.ethz.ch)
Your application should include a brief motivational statement, your transcript of records, and your CV.