1,157 research outputs found
Mechanical Design, Modelling and Control of a Novel Aerial Manipulator
In this paper a novel aerial manipulation system is proposed. The mechanical
structure of the system, the number of thrusters and their geometry will be
derived from technical optimization problems. The aforementioned problems are
defined by taking into consideration the desired actuation forces and torques
applied to the end-effector of the system. The framework of the proposed system
is designed in a CAD Package in order to evaluate the system parameter values.
Following this, the kinematic and dynamic models are developed and an adaptive
backstepping controller is designed aiming to control the exact position and
orientation of the end-effector in the Cartesian space. Finally, the
performance of the system is demonstrated through a simulation study, where a
manipulation task scenario is investigated.Comment: Comments: 8 Pages, 2015 IEEE International Conference on Robotics and
Automation (ICRA '15), Seattle, WA, US
Closed-Loop Behavior of an Autonomous Helicopter Equipped with a Robotic Arm for Aerial Manipulation Tasks
This paper is devoted to the control of aerial robots interacting physically with objects in the environment and
with other aerial robots. The paper presents a controller for the particular case of a small‐scaled autonomous helicopter equipped with a robotic arm for aerial manipulation.
Two
types
of
influences
are
imposed
on
the
helicopter
from
a
manipulator:
coherent
and
non
‐
coherent
influence.
In
the
former
case,
the
forces
and
torques
imposed
on
the
helicopter
by
the
manipulator
change
with
frequencies
close
to
those
of
the
helicopter
movement.
The
paper
shows
that
even
small
interaction
forces
imposed
on
the
fuselage
periodically
in
proper
phase
could
yield
to
low
frequency
instabilities
and
oscillations,
so
called
phase
circle
Motion planning with dynamics awareness for long reach manipulation in aerial robotic systems with two arms
Human activities in maintenance of industrial plants pose elevated risks as well as significant costs due to the required shutdowns of the facility. An aerial robotic system with two arms for long reach manipulation in cluttered environments is presented to alleviate these constraints. The system consists of a multirotor with a long bar extension that incorporates a lightweight dual arm in the tip. This configuration allows aerial manipulation tasks even in hard-to-reach places. The objective of this work is the development of planning strategies to move the aerial robotic system with two arms for long reach manipulation in a safe and efficient way for both navigation and manipulation tasks. The motion planning problem is addressed considering jointly the aerial platform and the dual arm in order to achieve wider operating conditions. Since there exists a strong dynamical coupling between the multirotor and the dual arm, safety in obstacle avoidance will be assured by introducing dynamics awareness in the operation of the planner. On the other hand, the limited maneuverability of the system emphasizes the importance of energy and time efficiency in the generated trajectories. Accordingly, an adapted version of the optimal Rapidly-exploring Random Tree algorithm has been employed to guarantee their optimality. The resulting motion planning strategy has been evaluated through simulation in two realistic industrial scenarios, a riveting application and a chimney repairing task. To this end, the dynamics of the aerial robotic system with two arms for long reach manipulation has been properly modeled, and a distributed control scheme has been derived to complete the test bed. The satisfactory results of the simulations are presented as a first validation of the proposed approach.Unión Europea H2020-644271Ministerio de Ciencia, Innovación y Universidades DPI2014-59383-C2-1-
A New Classification and Aerial Manipulation Q-PRR Design
International audienceThis paper presents a new designation and classification of system with UAV and robot manipulator where a new nomenclature is recognized as being the first contribution in the bibliography of design and systems. Several papers deal a problem of manipulation with a different unmanned aerial vehicle, robot arms and also with different naming of their systems, where the difficulty for locate and finding items and a good paper with its title or even by keywords, multirotor equipped with n-DoF robotic arm is the expression among the most widely used to describe that system. Aerial manipulation formula is presented and proved with a large example in the literature
A review of aerial manipulation of small-scale rotorcraft unmanned robotic systems
Small-scale rotorcraft unmanned robotic systems (SRURSs) are a kind of unmanned rotorcraft with manipulating devices. This review aims to provide an overview on aerial manipulation of SRURSs nowadays and promote relative research in the future. In the past decade, aerial manipulation of SRURSs has attracted the interest of researchers globally. This paper provides a literature review of the last 10 years (2008–2017) on SRURSs, and details achievements and challenges. Firstly, the definition, current state, development, classification, and challenges of SRURSs are introduced. Then, related papers are organized into two topical categories: mechanical structure design, and modeling and control. Following this, research groups involved in SRURS research and their major achievements are summarized and classified in the form of tables. The research groups are introduced in detail from seven parts. Finally, trends and challenges are compiled and presented to serve as a resource for researchers interested in aerial manipulation of SRURSs. The problem, trends, and challenges are described from three aspects. Conclusions of the paper are presented, and the future of SRURSs is discussed to enable further research interests
The AEROARMS Project: Aerial Robots with Advanced Manipulation Capabilities for Inspection and Maintenance
This article summarizes new aerial robotic manipulation technologies and methods—aerial robotic manipulators with dual arms and multidirectional thrusters—developed in the AEROARMS project for outdoor industrial inspection and maintenance (I&M). Our report deals with the control systems, including the control of the interaction forces and the compliance the teleoperation, which uses passivity to tackle the tradeoff between stability and performance the perception methods for localization, mapping, and inspection the planning methods, including a new control-aware approach for aerial manipulation.
Finally, we describe a novel industrial platform with multidirectional thrusters and a new arm design to increase the robustness in industrial contact inspections. In addition, the lessons learned in applying the platform to outdoor aerial manipulation for I&M are pointed out
Passive Compliance Control of Aerial Manipulators
This paper presents a passive compliance control for aerial manipulators to
achieve stable environmental interactions. The main challenge is the absence of
actuation along body-planar directions of the aerial vehicle which might be
required during the interaction to preserve passivity. The controller proposed
in this paper guarantees passivity of the manipulator through a proper choice
of end-effector coordinates, and that of vehicle fuselage is guaranteed by
exploiting time domain passivity technique. Simulation studies validate the
proposed approach.Comment: IEEE/RSJ International Conference on Intelligent Robots and Systems
(IROS) 201
An adaptive hierarchical control for aerial manipulators
This paper addresses the trajectory tracking control problem for a quadrotor aerial vehicle, equipped with a robotic manipulator (aerial manipulator). The controller is organized in two layers: in the top layer, an inverse kinematics algorithm computes the motion references for the actuated variables; in the bottom layer, a motion control algorithm is in charge of tracking the motion references computed by the upper layer. To the purpose, a model-based control scheme is adopted, where modelling uncertainties are compensated through an adaptive term. The stability of the proposed scheme is proven by resorting to Lyapunov arguments. Finally, a simulation case study is proposed to prove the effectiveness of the approach
On Aerial Robots with Grasping and Perching Capabilities: A Comprehensive Review
Over the last decade, there has been an increased interest in developing aerial robotic platforms that exhibit grasping and perching capabilities not only within the research community but also in companies across different industry sectors. Aerial robots range from standard multicopter vehicles/drones, to autonomous helicopters, and fixed-wing or hybrid devices. Such devices rely on a range of different solutions for achieving grasping and perching. These solutions can be classified as: 1) simple gripper systems, 2) arm-gripper systems, 3) tethered gripping mechanisms, 4) reconfigurable robot frames, 5) adhesion solutions, and 6) embedment solutions. Grasping and perching are two crucial capabilities that allow aerial robots to interact with the environment and execute a plethora of complex tasks, facilitating new applications that range from autonomous package delivery and search and rescue to autonomous inspection of dangerous or remote environments. In this review paper, we present the state-of-the-art in aerial grasping and perching mechanisms and we provide a comprehensive comparison of their characteristics. Furthermore, we analyze these mechanisms by comparing the advantages and disadvantages of the proposed technologies and we summarize the significant achievements in these two research topics. Finally, we conclude the review by suggesting a series of potential future research directions that we believe that are promising
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