Polytechnic University of Pachuca

Thesis to get the master on mechatronics degree

Presented by:

Bs. Martı́n Reynoso Cerón

Unmanned aerial system Coaxial Tri-Rotor type with robotic arm for
manipulation applications

Supervised by:

PhD. Eduardo Steed Espinoza Quesada

PhD. Jesús Patricio Ordaz Oliver

Contents

Acknowledgements III

Abstract V

Figures list VII

List of tables IX

1 Introduction 1

2 Nudo 3

3 Desenlace 5

A Más cosas 7

B Y más cosas aún 9

Bibliography 11

3
4 CONTENTS
 Dedicated to a
beautiful soul

I
II CONTENTS
Acknowledgements

¡Thank you to all!

III
IV ACKNOWLEDGEMENTS
Abstract

This is a beautiful history.

V
VI ABSTRACT
List of Figures

VII
VIII LIST OF FIGURES
List of Tables

IX
X LIST OF TABLES
Chapter 1

Introduction

Over the last two decades, the researches about the Unmanned Aircraft Systems (UAS) has
grown up so very fast, and its applications are diverse. UAS are used to surveillance of indoor
or outdoor environments, inspection, mapping, remote monitoring and traffic management
for civil and army uses [2],
In the study of some select topics of mechanical systems, a fundamental requirement is to
represent the position and orientation of objects in a three-dimensional environment. Such
objects include robots, cameras, workpieces, obstacles and paths [1].

1
2 CHAPTER 1. INTRODUCTION
Chapter 2

Nudo

La historia continúa con...

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4 CHAPTER 2. NUDO
Chapter 3

Desenlace

El final de la historia es sorprendete...

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6 CHAPTER 3. DESENLACE
Appendix A

Más cosas

Aún faltan cosas por decir.

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8 APPENDIX A. MÁS COSAS
Appendix B

Y más cosas aún

Y más cosas aún.

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10 APPENDIX B. Y MÁS COSAS AÚN
Bibliography

[1] F. Caccavale, G. Giglio, G. Muscio and F. Pierri, “Adaptive control for UAVs equipped
with a robotic arm,” The International Federation of Automatic Control (IFAC), Cape
Town, South Africa, pp. 11049-11054, 2014.

[2] Peter Corke, “Robotics, Vision and Control. Fundamental Algorithms in MATLAB ,”
R
Springer tracts in advanced robotics (STAR),2011.

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