Master Thesis

Hierarchical task control through quadratic programming

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  • Started: 15/10/2017
  • Finished: 03/10/2018


This thesis tackles the control of an aerial vehicle equipped with a robot arm through quadratic programming.The proposed approach applies the on-line active set strategy to generate a feasible trajectory of the joints, in order to accomplish a set of tasks with defined bounds and constraint inequalities. The definition of the problem in the acceleration domain allows to integrate and perform a large set of tasks and, as a result, to obtain smooth motion of the joints. A hierarchical strategy, associated with a normalization procedure, allows to easily define the relative importance of the tasks. This approach is useful to accomplish different phases of a mission with different redundancy resolution strategies. The performance of the proposed technique is demonstrated through real experiments with all the algorithms running on-board in real time. In particular, the aerial manipulator can successfully perform navigation and interaction phases, while keeping motion within prescribed bounds and avoiding collisions with external obstacles.

The work is under the scope of the following projects:

  • AEROARMS: AErial RObotics System integrating multiple ARMS and advanced manipulation capabilities for inspection and maintenance (web)
  • MdM: Unit of Excellence María de Maeztu (web)