NONLINEAR CONTROL OF A HELICOPTER BASED UNMANNED AERIAL
VEHICLE MODEL
T. JOHN KOO, YI MA, AND S. SHANKAR SASTRY
Abstract. In this paper, output tracking control of a helicopter based unmanned aerial vehicle model is
investigated. First, based on Newton-Eu

Robotics 2
Robots with
kinematic redundancy
Prof. Alessandro De Luca
Redundant robots
direct kinematics of the task r = f(q)
f: Q R
joint space (dim Q = N)
task space (dim R = M)
a robot is (kinematically) redundant for the task if N > M
(more degrees of

The Basic Knowledge of Robot
General Design Considerations
Effectiveness
Does the robot do what you want it to?
Speed & accuracy
Reliability
How often will it work?
How long does it take to work?
In general , longer, faster and more expensive
Compo

The Basic Knowledge of Robot
General Design Considerations
Effectiveness
Does the robot do what you want it to?
Speed & accuracy
Reliability
How often will it work?
How long does it take to work?
In general , longer, faster and more expensive
Compo

Welcome to
Introduction to Robotics
NUAA
Introduction to Teachers
Prof. Wu Hongtao
TA(assistant) . Shen Hao yu( )
1-7 weeks
TA(assistant) . Yang yu xuan
8-12 weeks
TA(assistant) . Ding li
13-16 weeks
Introduction to Students
Your Name
Problem sets

The Basic Knowledge of Robot
General Design Considerations
Effectiveness
Does the robot do what you want it to?
Speed & accuracy
Reliability
How often will it work?
How long does it take to work?
In general , longer, faster and more expensive
Compo

Forward and Inverse
Kinematics
NUAA
Recap: rigid motions
Rigid motion is a combination of rotation and translation
Defined by a rotation matrix (R) and a displacement vector
(d)
the group of all rigid motions (d,R) is known as the Special
Euclidean group,

Position and
Orientation
Transformations
and Robot
Kinematics of
Position
Foundations of Mathematics
Oxyz
coordinate
z
Coordinate systems (right- and
left-handed), serve as a
reference point.
3 axes labelled x, y, z at right
angles.
o
x
y
Foundations of M

Aerial RoboticsUH (Part 1)
Ding Li
Tel:13675100647
Email:nuaadli@163.com
Helicopter Equations of Motion
The first assumption toward dynamical modeling
of a helicopter is to consider it as a rigid body wi
th six Degrees Of Freedom (DOF).
Two frames: 1)ine

Aerial RoboticsUH (Part 2)
Ding Li
Tel:13675100647
Email:nuaadli@163.com
Path planning for UAV
Flight environment
Artificial bee colony algorithm
Simulation
Path planning is devoted to finding an optimal or near-optimal f
ight path between the start po