Modeling and Control of In-Flight Object Grasping Inspired by Birds’ Aerial Hunting

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Rashidi Fathabadi, Haniyeh | 2015

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Type of Document: M.Sc. Thesis
Language: Farsi
Document No: 47174 (45)
University: Sharif University of Technology
Department: Aerospace Engineering
Advisor(s): Banazadeh, Afshin; Saghafi, Fariborz
Abstract:
In this project, modeling and control of grasping phase of flight is investigated inspired by birds’ aerial hunting. For this purpose, grasping mechanism and its challenges in flight is studied. In the following, an explanation about gripper, its design and its performance in flight is given. Both 1-DOF and 2-DOF gripper is modeled. Then, the simulation is evaluated during different test cases. After modeling, optimum trajectory for an air-vehicle in grasping phase is studied and analyzed. When using a 2-DOF gripper instead of a 1-DOF gripper, the vehicle is capable of grasping in different positions and attitudes. Therefore, the results of trajectory generation show more chances of grasping an object. In order to follow the generated trajectory, a nonlinear controller based on Lyapunov (Slotine Controller) is designed. Furthermore, the controller works well in the case of disturbances. The band of aerodynamic forces obtained from controller is compared with those of an insect-like flapping wing to confirm the possibility of performing respective maneuvers
Keywords:
Trajectory Optimization ; Genetic Algorithm ; Modeling ; Simulation ; Aerial Grasping Maneuver ; Slotin Controller

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