1,279 research outputs found

    Compliant aerial manipulation.

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    The aerial manipulation is a research field which proposes the integration of robotic manipulators in aerial platforms, typically multirotors – widely known as “drones” – or autonomous helicopters. The development of this technology is motivated by the convenience to reduce the time, cost and risk associated to the execution of certain operations or tasks in high altitude areas or difficult access workspaces. Some illustrative application examples are the detection and insulation of leaks in pipe structures in chemical plants, repairing the corrosion in the blades of wind turbines, the maintenance of power lines, or the installation and retrieval of sensor devices in polluted areas. Although nowadays it is possible to find a wide variety of commercial multirotor platforms with payloads from a few gramps up to several kilograms, and flight times around thirty minutes, the development of an aerial manipulator is still a technological challenge due to the strong requirements relative to the design of the manipulator in terms of very low weight, low inertia, dexterity, mechanical robustness and control. The main contribution of this thesis is the design, development and experimental validation of several prototypes of lightweight (<2 kg) and compliant manipulators to be integrated in multirotor platforms, including human-size dual arm systems, compliant joint arms equipped with human-like finger modules for grasping, and long reach aerial manipulators. Since it is expected that the aerial manipulator is capable to execute inspection and maintenance tasks in a similar way a human operator would do, this thesis proposes a bioinspired design approach, trying to replicate the human arm in terms of size, kinematics, mass distribution, and compliance. This last feature is actually one of the key concepts developed and exploited in this work. Introducing a flexible element such as springs or elastomers between the servos and the links extends the capabilities of the manipulator, allowing the estimation and control of the torque/force, the detection of impacts and overloads, or the localization of obstacles by contact. It also improves safety and efficiency of the manipulator, especially during the operation on flight or in grabbing situations, where the impacts and contact forces may damage the manipulator or destabilize the aerial platform. Unlike most industrial manipulators, where force-torque control is possible at control rates above 1 kHz, the servo actuators typically employed in the development of aerial manipulators present important technological limitations: no torque feedback nor control, only position (and in some models, speed) references, low update rates (<100 Hz), and communication delays. However, these devices are still the best solution due to their high torque to weight ratio, low cost, compact design, and easy assembly and integration. In order to cope with these limitations, the compliant joint arms presented here estimate and control the wrenches from the deflection of the spring-lever transmission mechanism introduced in the joints, measured at joint level with encoders or potentiometers, or in the Cartesian space employing vision sensors. Note that in the developed prototypes, the maximum joint deflection is around 25 degrees, which corresponds to a deviation in the position of the end effector around 20 cm for a human-size arm. The capabilities and functionalities of the manipulators have been evaluated in fixed base test-bench firstly, and then in outdoor flight tests, integrating the arms in different commercial hexarotor platforms. Frequency characterization, position/force/impedance control, bimanual grasping, arm teleoperation, payload mass estimation, or contact-based obstacle localization are some of the experiments presented in this thesis that validate the developed prototypes.La manipulación aérea es un campo de investigación que propone la integración de manipuladores robóticos in plataformas aéreas, típicamente multirotores – comúnmente conocidos como “drones” – o helicópteros autónomos. El desarrollo de esta tecnología está motivada por la conveniencia de reducir el tiempo, coste y riesgo asociado a la ejecución de ciertas operaciones o tareas en áreas de gran altura o espacios de trabajo de difícil acceso. Algunos ejemplos ilustrativos de aplicaciones son la detección y aislamiento de fugas en estructura de tuberías en plantas químicas, la reparación de la corrosión en las palas de aerogeneradores, el mantenimiento de líneas eléctricas, o la instalación y recuperación de sensores en zonas contaminadas. Aunque hoy en día es posible encontrar una amplia variedad de plataformas multirotor comerciales con cargas de pago desde unos pocos gramos hasta varios kilogramos, y tiempo de vuelo entorno a treinta minutos, el desarrollo de los manipuladores aéreos es todavía un desafío tecnológico debido a los exigentes requisitos relativos al diseño del manipulador en términos de muy bajo peso, baja inercia, destreza, robustez mecánica y control. La contribución principal de esta tesis es el diseño, desarrollo y validación experimental de varios prototipos de manipuladores de bajo peso (<2 kg) con capacidad de acomodación (“compliant”) para su integración en plataformas aéreas multirotor, incluyendo sistemas bi-brazo de tamaño humano, brazos robóticos de articulaciones flexibles con dedos antropomórficos para agarre, y manipuladores aéreos de largo alcance. Puesto que se prevé que el manipulador aéreo sea capaz de ejecutar tareas de inspección y mantenimiento de forma similar a como lo haría un operador humano, esta tesis propone un enfoque de diseño bio-inspirado, tratando de replicar el brazo humano en cuanto a tamaño, cinemática, distribución de masas y flexibilidad. Esta característica es de hecho uno de los conceptos clave desarrollados y utilizados en este trabajo. Al introducir un elemento elástico como los muelles o elastómeros entre el los actuadores y los enlaces se aumenta las capacidades del manipulador, permitiendo la estimación y control de las fuerzas y pares, la detección de impactos y sobrecargas, o la localización de obstáculos por contacto. Además mejora la seguridad y eficiencia del manipulador, especialmente durante las operaciones en vuelo, donde los impactos y fuerzas de contacto pueden dañar el manipulador o desestabilizar la plataforma aérea. A diferencia de la mayoría de manipuladores industriales, donde el control de fuerzas y pares es posible a tasas por encima de 1 kHz, los servo motores típicamente utilizados en el desarrollo de manipuladores aéreos presentan importantes limitaciones tecnológicas: no hay realimentación ni control de torque, sólo admiten referencias de posición (o bien de velocidad), y presentan retrasos de comunicación. Sin embargo, estos dispositivos son todavía la mejor solución debido al alto ratio de torque a peso, por su bajo peso, diseño compacto y facilidad de ensamblado e integración. Para suplir estas limitaciones, los brazos robóticos flexibles presentados aquí permiten estimar y controlar las fuerzas a partir de la deflexión del mecanismo de muelle-palanca introducido en las articulaciones, medida a nivel articular mediante potenciómetros o codificadores, o en espacio Cartesiano mediante sensores de visión. Tómese como referencia que en los prototipos desarrollados la máxima deflexión articular es de unos 25 grados, lo que corresponde a una desviación de posición en torno a 20 cm en el efector final para un brazo de tamaño humano. Las capacidades y funcionalidades de estos manipuladores se han evaluado en base fija primero, y luego en vuelos en exteriores, integrando los brazos en diferentes plataformas hexartor comerciales. Caracterización frecuencial, control de posición/fuerza/impedancia, agarre bimanual, teleoperación de brazos, estimación de carga, o la localización de obstáculos mediante contacto son algunos de los experimentos presentados en esta tesis para validar los prototipos desarrollados por el auto

    Innovative Solutions for Navigation and Mission Management of Unmanned Aircraft Systems

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    The last decades have witnessed a significant increase in Unmanned Aircraft Systems (UAS) of all shapes and sizes. UAS are finding many new applications in supporting several human activities, offering solutions to many dirty, dull, and dangerous missions, carried out by military and civilian users. However, limited access to the airspace is the principal barrier to the realization of the full potential that can be derived from UAS capabilities. The aim of this thesis is to support the safe integration of UAS operations, taking into account both the user's requirements and flight regulations. The main technical and operational issues, considered among the principal inhibitors to the integration and wide-spread acceptance of UAS, are identified and two solutions for safe UAS operations are proposed: A. Improving navigation performance of UAS by exploiting low-cost sensors. To enhance the performance of the low-cost and light-weight integrated navigation system based on Global Navigation Satellite System (GNSS) and Micro Electro-Mechanical Systems (MEMS) inertial sensors, an efficient calibration method for MEMS inertial sensors is required. Two solutions are proposed: 1) The innovative Thermal Compensated Zero Velocity Update (TCZUPT) filter, which embeds the compensation of thermal effect on bias in the filter itself and uses Back-Propagation Neural Networks to build the calibration function. Experimental results show that the TCZUPT filter is faster than the traditional ZUPT filter in mapping significant bias variations and presents better performance in the overall testing period. Moreover, no calibration pre-processing stage is required to keep measurement drift under control, improving the accuracy, reliability, and maintainability of the processing software; 2) A redundant configuration of consumer grade inertial sensors to obtain a self-calibration of typical inertial sensors biases. The result is a significant reduction of uncertainty in attitude determination. In conclusion, both methods improve dead-reckoning performance for handling intermittent GNSS coverage. B. Proposing novel solutions for mission management to support the Unmanned Traffic Management (UTM) system in monitoring and coordinating the operations of a large number of UAS. Two solutions are proposed: 1) A trajectory prediction tool for small UAS, based on Learning Vector Quantization (LVQ) Neural Networks. By exploiting flight data collected when the UAS executes a pre-assigned flight path, the tool is able to predict the time taken to fly generic trajectory elements. Moreover, being self-adaptive in constructing a mathematical model, LVQ Neural Networks allow creating different models for the different UAS types in several environmental conditions; 2) A software tool aimed at supporting standardized procedures for decision-making process to identify UAS/payload configurations suitable for any type of mission that can be authorized standing flight regulations. The proposed methods improve the management and safe operation of large-scale UAS missions, speeding up the flight authorization process by the UTM system and supporting the increasing level of autonomy in UAS operations

    Modeling and Control of Flexible Link Manipulators

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    Autonomous maritime navigation and offshore operations have gained wide attention with the aim of reducing operational costs and increasing reliability and safety. Offshore operations, such as wind farm inspection, sea farm cleaning, and ship mooring, could be carried out autonomously or semi-autonomously by mounting one or more long-reach robots on the ship/vessel. In addition to offshore applications, long-reach manipulators can be used in many other engineering applications such as construction automation, aerospace industry, and space research. Some applications require the design of long and slender mechanical structures, which possess some degrees of flexibility and deflections because of the material used and the length of the links. The link elasticity causes deflection leading to problems in precise position control of the end-effector. So, it is necessary to compensate for the deflection of the long-reach arm to fully utilize the long-reach lightweight flexible manipulators. This thesis aims at presenting a unified understanding of modeling, control, and application of long-reach flexible manipulators. State-of-the-art dynamic modeling techniques and control schemes of the flexible link manipulators (FLMs) are discussed along with their merits, limitations, and challenges. The kinematics and dynamics of a planar multi-link flexible manipulator are presented. The effects of robot configuration and payload on the mode shapes and eigenfrequencies of the flexible links are discussed. A method to estimate and compensate for the static deflection of the multi-link flexible manipulators under gravity is proposed and experimentally validated. The redundant degree of freedom of the planar multi-link flexible manipulator is exploited to minimize vibrations. The application of a long-reach arm in autonomous mooring operation based on sensor fusion using camera and light detection and ranging (LiDAR) data is proposed.publishedVersio

    MIT's interferometer CST testbed

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    The MIT Space Engineering Research Center (SERC) has developed a controlled structures technology (CST) testbed based on one design for a space-based optical interferometer. The role of the testbed is to provide a versatile platform for experimental investigation and discovery of CST approaches. In particular, it will serve as the focus for experimental verification of CSI methodologies and control strategies at SERC. The testbed program has an emphasis on experimental CST--incorporating a broad suite of actuators and sensors, active struts, system identification, passive damping, active mirror mounts, and precision component characterization. The SERC testbed represents a one-tenth scaled version of an optical interferometer concept based on an inherently rigid tetrahedral configuration with collecting apertures on one face. The testbed consists of six 3.5 meter long truss legs joined at four vertices and is suspended with attachment points at three vertices. Each aluminum leg has a 0.2 m by 0.2 m by 0.25 m triangular cross-section. The structure has a first flexible mode at 31 Hz and has over 50 global modes below 200 Hz. The stiff tetrahedral design differs from similar testbeds (such as the JPL Phase B) in that the structural topology is closed. The tetrahedral design minimizes structural deflections at the vertices (site of optical components for maximum baseline) resulting in reduced stroke requirements for isolation and pointing of optics. Typical total light path length stability goals are on the order of lambda/20, with a wavelength of light, lambda, of roughly 500 nanometers. It is expected that active structural control will be necessary to achieve this goal in the presence of disturbances

    MIT Space Engineering Research Center

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    The Space Engineering Research Center (SERC) at MIT, started in Jul. 1988, has completed two years of research. The Center is approaching the operational phase of its first testbed, is midway through the construction of a second testbed, and is in the design phase of a third. We presently have seven participating faculty, four participating staff members, ten graduate students, and numerous undergraduates. This report reviews the testbed programs, individual graduate research, other SERC activities not funded by the Center, interaction with non-MIT organizations, and SERC milestones. Published papers made possible by SERC funding are included at the end of the report

    An Overview on Principles for Energy Efficient Robot Locomotion

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    Despite enhancements in the development of robotic systems, the energy economy of today's robots lags far behind that of biological systems. This is in particular critical for untethered legged robot locomotion. To elucidate the current stage of energy efficiency in legged robotic systems, this paper provides an overview on recent advancements in development of such platforms. The covered different perspectives include actuation, leg structure, control and locomotion principles. We review various robotic actuators exploiting compliance in series and in parallel with the drive-train to permit energy recycling during locomotion. We discuss the importance of limb segmentation under efficiency aspects and with respect to design, dynamics analysis and control of legged robots. This paper also reviews a number of control approaches allowing for energy efficient locomotion of robots by exploiting the natural dynamics of the system, and by utilizing optimal control approaches targeting locomotion expenditure. To this end, a set of locomotion principles elaborating on models for energetics, dynamics, and of the systems is studied

    Task Oriented Programming and Service Algorithms for Smart Robotic Cells

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    L'abstract è presente nell'allegato / the abstract is in the attachmen

    Dexterity, workspace and performance analysis of the conceptual design of a novel three-legged, redundant, lightweight, compliant, serial-parallel robot

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    In this article, the mechanical design and analysis of a novel three-legged, agile robot with passively compliant 4-degrees-of-freedom legs, comprising a hybrid topology of serial, planar and spherical parallel structures, is presented. The design aims to combine the established principle of the Spring Loaded Inverted Pendulum model for energy efficient locomotion with the accuracy and strength of parallel mechanisms for manipulation tasks. The study involves several kinematics and Jacobian based analyses that specifically evaluate the application of a non-overconstrained spherical parallel manipulator as a robot hip joint, decoupling impact forces and actuation torques, suitable for the requirements of legged locomotion. The dexterity is investigated with respect to joint limits and workspace boundary contours, showing that the mechanism stays well conditioned and allows for a sufficient range of motion. Based on the functional redundancy of the constrained serial-parallel architecture it is furthermore revealed that the robot allows for the exploitation of optimal leg postures, resulting in the possible optimization of actuator load distribution and accuracy improvements. Consequently, the workspace of the robot torso as additional end-effector is investigated for the possible application of object manipulation tasks. Results reveal the existence of a sufficient volume applicable for spatial motion of the torso in the statically stable tripodal posture. In addition, a critical load estimation is derived, which yields a posture dependent performance index that evaluates the risks of overload situations for the individual actuators

    (Adaptive) computed torque control of (flexible) robot systems

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    A survey of load methodologies for shuttle orbiter payloads

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    Loads methods currently being used to design shuttle orbiter payloads are summarized. Methods used for the design of payloads launched by expendable launch vehicles are described in historical perspective. Experiences gained from expendable launch vehicle payloads are used to develop methodologies for the space shuttle orbiter payloads. The objectives for the development of a new methodology for the shuttle payloads are to reduce the cost and schedule for the payload load analysis by decoupling the payload analysis from the launch vehicle to the maximum extent possible. Methods are described for payload member load estimation or obtaining upper bounds for dynamic loads, as well as load prediction or calculating actual transient member load time histories
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