Development of a light-weight manipulator system for an omni-directional multi-rotor platform

Abstract

This thesis presents the development of a proof-of-concept physical prototype and control system for a six degree-of-freedom manipulator attached to an omni-directional multi-rotor system known as the OmniRaptor. This prototype was developed in order to provide the OmniRaptor with the ability to precisely position a sensor in environments where wind gusts are present. In addition to its ability to complete disturbance rejection using visual servoing, the manipulator system provides the potential for pick-and-place operations. Physical testing of the prototype verified its ability to detect and track objects in both stationary and moving configurations as well as operate in conjunction with the OmniRaptor while in manual and autonomous flight modes.