Modelación y Control de un Robot Manipulador Aéreo en entornos 3D de Realidad Virtual.

Abstract

The modelling and proposal of an advanced control scheme to perform autonomous locomotion tasks of an aerial manipulator robot consisting of a robotic arm mounted on a quadcopter: considering the control theory for stability and robustness analysis to obtain the Cinematic model of the mobile manipulator formed by a quadcopter and robotic arm, the Cinematic models of the Unmanned Aerial Vehicle (UAV) are initially obtained separately and the manipulator robot for subsequently joining them and analyze the final model, this way it is guaranteed that the kinematic model more accurately represents the physical characteristics of the mobile manipulator. In accordance with the model obtained, the kinematic controller is developed, thus providing autonomous control to the mobile manipulator to carry out trajectory monitoring tasks in unstructured environments. For the stability analysis of the control scheme, the candidate function of the Lyapunov method is used, which allows the Cinematic controller found to be validated, ensuring that the kinematic controller meets the stated objectives. The results obtained from the experiments are simulated in a 3D virtual reality environment where the correct operation of the controller is better appreciated. The learning system is becoming more interactive every day whose objective is to create the student's feeling of immersion in almost real simulation environments, it is recommended to use as a Unity virtual reality platform, the 3D virtual reality environment that allows immersion of the human operator where the results obtained from the controller created and its stability can be visualized in a more didactic and almost real way by following an established path.