Modeling and Control of a Pollinator Flying Robot

Mozhdeh Mazinani; Payam Zarafshan; Mohammad Dehghani; Hamed Etezadi; Kourosh Vahdati; Gholamreza Chegini

doi:10.1109/ICRoM54204.2021.9663526

Modeling and Control of a Pollinator Flying Robot

Mozhdeh Mazinani, Payam Zarafshan, Mohammad Dehghani, Hamed Etezadi, Kourosh Vahdati, Gholamreza Chegini

Research output: Chapter in Book / Conference Paper › Conference Paper › peer-review

9 Citations (Scopus)

Abstract

Pollination is an important factor of crops growth. Insufficient natural pollination is the cause of using artificial pollination as a complementary method. Using unmanned aerial vehicles is one of the novel methods for artificial pollination. In this paper, a developed quadrotor consisting of four motors is studied for walnut pollination. The robot is modeled to achieve a real control Simulation. The modeling and control of this quadrotor are parts of design and control design of our manufactured system. For dynamic simulation, robot model is built in ADAMS software. Then, for control design and performance analysis, MATLAB and ADAMS cosimulation is performed. In this cosimulation, rotor speeds are determined using the controller designed in MATLAB. Then, the dynamics response is determined through model calculations in ADAMS.

Original language	English
Title of host publication	9th RSI International Conference on Robotics and Mechatronics, ICRoM 2021
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	548-553
Number of pages	6
ISBN (Electronic)	9781665420945
DOIs	https://doi.org/10.1109/ICRoM54204.2021.9663526
Publication status	Published - 2021
Externally published	Yes
Event	9th RSI International Conference on Robotics and Mechatronics, ICRoM 2021 - Tehran, Iran, Islamic Republic of Duration: 17 Nov 2021 → 19 Nov 2021

Publication series

Name	9th RSI International Conference on Robotics and Mechatronics, ICRoM 2021

Conference

Conference	9th RSI International Conference on Robotics and Mechatronics, ICRoM 2021
Country/Territory	Iran, Islamic Republic of
City	Tehran
Period	17/11/21 → 19/11/21

Bibliographical note

Publisher Copyright:
© 2021 IEEE.

Keywords

ADAMS MATLAB Co simulation
Artificial Pollination
Quadrotor Control

Access to Document

10.1109/ICRoM54204.2021.9663526

Cite this

Mazinani, M., Zarafshan, P., Dehghani, M., Etezadi, H., Vahdati, K., & Chegini, G. (2021). Modeling and Control of a Pollinator Flying Robot. In 9th RSI International Conference on Robotics and Mechatronics, ICRoM 2021 (pp. 548-553). (9th RSI International Conference on Robotics and Mechatronics, ICRoM 2021). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICRoM54204.2021.9663526

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title = "Modeling and Control of a Pollinator Flying Robot",

abstract = "Pollination is an important factor of crops growth. Insufficient natural pollination is the cause of using artificial pollination as a complementary method. Using unmanned aerial vehicles is one of the novel methods for artificial pollination. In this paper, a developed quadrotor consisting of four motors is studied for walnut pollination. The robot is modeled to achieve a real control Simulation. The modeling and control of this quadrotor are parts of design and control design of our manufactured system. For dynamic simulation, robot model is built in ADAMS software. Then, for control design and performance analysis, MATLAB and ADAMS cosimulation is performed. In this cosimulation, rotor speeds are determined using the controller designed in MATLAB. Then, the dynamics response is determined through model calculations in ADAMS.",

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year = "2021",

doi = "10.1109/ICRoM54204.2021.9663526",

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Mazinani, M, Zarafshan, P, Dehghani, M, Etezadi, H, Vahdati, K & Chegini, G 2021, Modeling and Control of a Pollinator Flying Robot. in 9th RSI International Conference on Robotics and Mechatronics, ICRoM 2021. 9th RSI International Conference on Robotics and Mechatronics, ICRoM 2021, Institute of Electrical and Electronics Engineers Inc., pp. 548-553, 9th RSI International Conference on Robotics and Mechatronics, ICRoM 2021, Tehran, Iran, Islamic Republic of, 17/11/21. https://doi.org/10.1109/ICRoM54204.2021.9663526

Modeling and Control of a Pollinator Flying Robot. / Mazinani, Mozhdeh; Zarafshan, Payam; Dehghani, Mohammad et al.
9th RSI International Conference on Robotics and Mechatronics, ICRoM 2021. Institute of Electrical and Electronics Engineers Inc., 2021. p. 548-553 (9th RSI International Conference on Robotics and Mechatronics, ICRoM 2021).

Research output: Chapter in Book / Conference Paper › Conference Paper › peer-review

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AU - Vahdati, Kourosh

AU - Chegini, Gholamreza

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Mazinani M, Zarafshan P, Dehghani M, Etezadi H, Vahdati K, Chegini G. Modeling and Control of a Pollinator Flying Robot. In 9th RSI International Conference on Robotics and Mechatronics, ICRoM 2021. Institute of Electrical and Electronics Engineers Inc. 2021. p. 548-553. (9th RSI International Conference on Robotics and Mechatronics, ICRoM 2021). doi: 10.1109/ICRoM54204.2021.9663526

Modeling and Control of a Pollinator Flying Robot

Abstract

Publication series

Conference

Bibliographical note

Keywords

Access to Document

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