000			01521nam a22001577a 4500
082			_a629.8
100			_aSial, Munadi Ahmad _9121352
245			_aFlight Stability of UAV-Manipulator System for Grasping Applications using Sliding Mode Control / _cMunadi Ahmad Sial
264			_aIslamabad : _bSMME- NUST; _c2024.
300			_a122p. _bSoft Copy _c30cm
500			_aAn Aerial Manipulator is a coupled system which consists of a robotic arm attached to the body of a drone. A drone is itself a non-linear system which is linearly approximated to enable PID control. With the addition of a manipulator, the non-linearity is increased to a significant extent. The combined system has very complex dynamics due to the shifting of the center of mass from actuating the arm. This places a great demand on the flight control system in order to maintain stability. Another problem is the sudden change in system dynamics whenever an object is grasped. The benefit of such a complex system is that the drone will be able to physically interact with the environment that it is inspecting. The interaction can be in the form grasping, pushing, pulling and transport of objects. The purpose of this research is to design and control an aerial manipulator for the stable grasping of small objects.
650			_aMS Robotics and Intelligent Machine Engineering _9119486
700			_aSupervisor : Dr. Muhammad Usman Bhutta _9119569
856			_uhttp://10.250.8.41:8080/xmlui/handle/123456789/42315
942			_2ddc _cTHE
999			_c608262 _d608262