UAV with High-reaction of robotic arm by geometry control Enhanced with AI | ||
| International Conference on Aerospace Sciences and Aviation Technology | ||
| Volume 21, Issue 21, September 2025, Pages 1-19 PDF (1.93 M) | ||
| Document Type: Original Article | ||
| DOI: 10.1088/1742-6596/2616/1//asat.2025.453559 | ||
| Authors | ||
| Khaled Oqda* 1; Mohamed Alkalla2 | ||
| 1Researcher at dept. of mechatronics , faculty of engineering ,Mansoura university, Mansoura , Egypt. | ||
| 2Mechatronics and Robotics Engineering Dept ,School of Innovative Design Engineering, Alexandria, Egypt. | ||
| Abstract | ||
| Unmanned Aerial Vehicles (UAVs) with robotic arms have revolutionized aerial manipulation, enabling advanced tasks such as object handling, infrastructure inspection, and emergency response. However, the integration of robotic arms introduces significant challenges due to dynamic coupling and external disturbances like wind, which can compromise system stability and performance. Traditional control methods have struggled to address these issues effectively, necessitating innovative solutions. This paper explores the application of geometric control to handle high reactions induced by robotic arm motions in UAVs. Geometric control leverages the intrinsic properties of the system’s configuration space, offering a robust and mathematically rigorous approach to managing nonlinear dynamics and external perturbations. By addressing the dual challenges of internal coupling and environmental disturbances, this study provides a comprehensive framework for stable and precise aerial manipulation. The proposed methodology is validated through simulations and experimental results, demonstrating its efficacy in enhancing UAV stability and performance under challenging conditions. This research contributes to the advancement of UAV-manipulator systems, paving the way for more reliable and versatile applications in complex environments. | ||
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