Integral Backstepping Approach for Mobile Robot Control

This paper presents the trajectory tracking problem of a unicycle-type mobile robots. A robust output tracking controller for nonlinear systems in the presence of disturbances is proposed, the approach is based on the combination of integral action and Backstepping technique to compensate for the dynamic disturbances. For desired trajectory, the values of the linear and angular velocities of the robot are assured by the kinematic controller. The control law guarantees stability of the robot by using the lyapunov theorem. The simulation and experimental results are presented to verify the designed trajectory tracking control

A novel aerial manipulation design, modelling and control for geometric com compensation

International audienceThis paper presents the design and modelling of a new Aerial manipulating system, that resolve a displacement of centre of gravity of the whole system with a mechanical device. A prismatic joint between the multirotor and a robotic arm is introduced to make a centre of mass as close as to the geometric centre of the whole system. This paper details also the geometric and dynamic modelling of a coupled system with a Lagrange formalism and control law with a Closed Loop Inverse Kinematic Algorithm (CLIKA). This dynamic inverse control is validated in a Simulink environment showing the efficiency of our approach

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

Contribution to the architecture, modeling, and control of an aerial manipulator arm

Les véhicules aériens sans pilote (UAV), de plus en plus utilisés pour différentes applications militaires comme civiles, ont la possibilité de se déplacer dans un environnement 3D en coordonnées cartésiennes pour assister l'homme, inspection des zones cibles ou bien photographier. Parmi ces missions, certaines nécessitent une interaction avec l'environnement comme par exemple la manipulation d'objet en vol. Pour satisfaire ce type de mission, la thèse a permis de choisir et concevoir un double système composé d'un bras manipulateur attaché à la base d'un multirotor. Le problème majeur émanant de cette nouvelle structure concerne la faculté à stabiliser le système simultanément avec un changement permanent de son inertie dû au mouvement du manipulateur. Dans ce manuscrit, une nouvelle conception de manipulateur aérien est proposée, capable de stabiliser le système avec la mise en œuvre d'une articulation prismatique pour agir sur le centre de gravité du système global tout en le maintenant le plus proche possible de l'axe vertical. Une contribution complémentaire a permis de présenter une nouvelle classification des systèmes de manipulation aérienne basée sur une formule symbolique, capable de définir le type et le nombre de multirotors et de manipulateurs utilisés au sein de la structure mécanique. Un nouvel algorithme de calcul des solutions du modèle géométrique inverse, basé sur une approche analytique, est ainsi développé et comparé à des algorithmes itératifs issus de la littérature. Le modèle dynamique du système global est obtenu à l'aide d'outils mathématiques symboliques et de fonctions développées dans ce projet. Deux approches de modélisation, couplées et découplées, sont développées. La partie contrôle-commande est conçue en utilisant trois lois de commande pour un système couplé et appliquées sur différents scénarios, chacun se composant de multiples couches (planification de trajectoire, couche interne de contrôle de position et d'attitude, bloc de contrôle d'entrée virtuelle). L'efficacité de l'articulation prismatique est étudiée et examinée pour différentes valeurs d'angles des articulations du bras manipulateur. Trois approches d'interaction de l'organe terminal du bras robotisé avec l'environnement sont implémentées et simulées. Une étude de cas et l'application du module d'impédance de contrôle sont simulées. Finalement, les approches et méthodes mises en œuvre sont validées à l'aide d'un prototype virtuel dans l'environnement SimMechanics où une interface utilisateur graphique GUI est conçue pour manipuler et visualiser le système lors de scénarios programmés, montrant ainsi l'apport des contributions principales de la thèse.Unmanned aerial vehicles (UAVs), progressively used by different military and commercial tasks, have the possibility to move in a 3D environment in Cartesian coordinates to assist humans, inspect dangerous areas or photography. Some of these missions require contact with the environment, such as handling objects in flight. In order to accomplish this kind of mission, that thesis made it possible to consider and design a dual system consisting of a manipulator arm connected to the base of a multirotor. The main problem resulting from this new structure involves the ability to stabilize the mechanism concurrently with a permanent change in its inertia due to the movement of the manipulator. In this manuscript, a new concept of the aerial manipulator is proposed, capable of stabilizing the system with the implementation of a prismatic joint to operate the center of gravity of the whole system while keeping it as close as possible to the vertical axis. A further contribution in this study, when a new classification of aerial manipulation systems based on a symbolic formula is introduced, capable of specifying the type and number of multirotors and manipulators used within the mechanical structure. A new algorithm for calculating the solutions of the inverse geometric model, based on an analytical approach, is thus developed and compared to iterative algorithms presented in the literature. The dynamic model of the overall system is obtained by the use of symbolic mathematical tools and functions developed in this project. Two modeling methods, coupled and decoupled, have been introduced. The control part is designed for a coupled system using three control laws and applied to various scenarios, each consisting of multilayer blocks (trajectory planning, internal layer of position and attitude control, control block of virtual entry). Different values of the angles of the manipulator arm joints are analyzed and tested for the efficiency of the prismatic joint. Three approaches to the interaction of the end organ of the robotic arm with the environment are implemented and simulated. A case study and the application of the control impedance module are simulated. Finally, the approaches and methods implemented in this thesis are validated using a virtual prototype in the SimMechanics environment, where a graphical user interface GUI is designed to manipulate and visualize the system during programmed scenarios, thus demonstrating the interest of the main thesis contributions

Contribution à l'architecture, la modélisation et la commande d'un bras manipulateur aérien

Unmanned aerial vehicles (UAVs), progressively used by different military and commercial tasks, have the possibility to move in a 3D environment in Cartesian coordinates to assist humans, inspect dangerous areas or photography. Some of these missions require contact with the environment, such as handling objects in flight. In order to accomplish this kind of mission, that thesis made it possible to consider and design a dual system consisting of a manipulator arm connected to the base of a multirotor. The main problem resulting from this new structure involves the ability to stabilize the mechanism concurrently with a permanent change in its inertia due to the movement of the manipulator. In this manuscript, a new concept of the aerial manipulator is proposed, capable of stabilizing the system with the implementation of a prismatic joint to operate the center of gravity of the whole system while keeping it as close as possible to the vertical axis. A further contribution in this study, when a new classification of aerial manipulation systems based on a symbolic formula is introduced, capable of specifying the type and number of multirotors and manipulators used within the mechanical structure. A new algorithm for calculating the solutions of the inverse geometric model, based on an analytical approach, is thus developed and compared to iterative algorithms presented in the literature. The dynamic model of the overall system is obtained by the use of symbolic mathematical tools and functions developed in this project. Two modeling methods, coupled and decoupled, have been introduced. The control part is designed for a coupled system using three control laws and applied to various scenarios, each consisting of multilayer blocks (trajectory planning, internal layer of position and attitude control, control block of virtual entry). Different values of the angles of the manipulator arm joints are analyzed and tested for the efficiency of the prismatic joint. Three approaches to the interaction of the end organ of the robotic arm with the environment are implemented and simulated. A case study and the application of the control impedance module are simulated. Finally, the approaches and methods implemented in this thesis are validated using a virtual prototype in the SimMechanics environment, where a graphical user interface GUI is designed to manipulate and visualize the system during programmed scenarios, thus demonstrating the interest of the main thesis contributions.Les véhicules aériens sans pilote (UAV), de plus en plus utilisés pour différentes applications militaires comme civiles, ont la possibilité de se déplacer dans un environnement 3D en coordonnées cartésiennes pour assister l'homme, inspection des zones cibles ou bien photographier. Parmi ces missions, certaines nécessitent une interaction avec l'environnement comme par exemple la manipulation d'objet en vol. Pour satisfaire ce type de mission, la thèse a permis de choisir et concevoir un double système composé d'un bras manipulateur attaché à la base d'un multirotor. Le problème majeur émanant de cette nouvelle structure concerne la faculté à stabiliser le système simultanément avec un changement permanent de son inertie dû au mouvement du manipulateur. Dans ce manuscrit, une nouvelle conception de manipulateur aérien est proposée, capable de stabiliser le système avec la mise en œuvre d'une articulation prismatique pour agir sur le centre de gravité du système global tout en le maintenant le plus proche possible de l'axe vertical. Une contribution complémentaire a permis de présenter une nouvelle classification des systèmes de manipulation aérienne basée sur une formule symbolique, capable de définir le type et le nombre de multirotors et de manipulateurs utilisés au sein de la structure mécanique. Un nouvel algorithme de calcul des solutions du modèle géométrique inverse, basé sur une approche analytique, est ainsi développé et comparé à des algorithmes itératifs issus de la littérature. Le modèle dynamique du système global est obtenu à l'aide d'outils mathématiques symboliques et de fonctions développées dans ce projet. Deux approches de modélisation, couplées et découplées, sont développées. La partie contrôle-commande est conçue en utilisant trois lois de commande pour un système couplé et appliquées sur différents scénarios, chacun se composant de multiples couches (planification de trajectoire, couche interne de contrôle de position et d'attitude, bloc de contrôle d'entrée virtuelle). L'efficacité de l'articulation prismatique est étudiée et examinée pour différentes valeurs d'angles des articulations du bras manipulateur. Trois approches d'interaction de l'organe terminal du bras robotisé avec l'environnement sont implémentées et simulées. Une étude de cas et l'application du module d'impédance de contrôle sont simulées. Finalement, les approches et méthodes mises en œuvre sont validées à l'aide d'un prototype virtuel dans l'environnement SimMechanics où une interface utilisateur graphique GUI est conçue pour manipuler et visualiser le système lors de scénarios programmés, montrant ainsi l'apport des contributions principales de la thèse

Integral backstepping approach for mobile robot control

International audienceThis paper presents the trajectory tracking problem of a unicycle-type mobile robots. A robust output tracking controller for nonlinear systems in the presence of disturbances is proposed, the approach is based on the combination of integral action and Backstepping technique to compensate for the dynamic disturbances. For desired trajectory, the values of the linear and angular velocities of the robot are assured by the kinematic controller. The control law guarantees stability of the robot by using the lyapunov theorem. The simulation and experimental results are presented to verify the designed trajectory tracking control

Path Planning of the Manipulator Arm FANUC Based on Soft Computing Techniques

International audienceIn this paper, direct and inverse geometric models for a 6 degrees of freedom manipulator robot arm are developed, and a set of homogeneous matrices are generated by Denavit-Hartenberg formalism. Moreover, a path planning method based on soft computing techniques is presented, which consists of using the neural network to model the end-effector workspace, and then determining the optimal trajectory to reach a desired position. The optimization of the trajectory depends on the minimization of the cost function, defined by the sum of two energies. The first one is the collision penalty (Ec) generated by each obstacle shape; the second one is the trajectory length penalty (El). Four steps are considered; at first, the configuration of the robot workspace where any assumption is taken into account. The robot is assimilated to a particle that moves inside a small two-dimensional space, and the obstacle is a polygon. Second, the Multilayer Perceptron Neural Network (MLP neural network) is used for the robot workspace modeling. Model block inputs are robot’s previous position values and the outputs are robot’s following position values. Then, the proposed approach is applied to optimize the cost function and to determine the end-effector trajectory in case of obstacles. The obtained result is a smooth trajectory, which represents robot motion. Finally, the presented approach is validated on a FANUC robot arm in a virtual environment, where the simulation results show this approach efficiency

Design and Manipulation in Augmented Reality of Fanuc 200iC Robot

In this paper, an AR (Augmented reality) system based on a multimodal user interface is proposed and its core techniques are described. The objective of this work is to realize certain task that operators can use the virtual robot to ameliorate the interaction with the real world using AR environment. VC++ and OpenGL are used to create this application.AR applications (ARToolKit) is used to detect the real-time position and orientation of camera and to facilite the operator’s observation and operation. Experiments prove that the system is reliable and efficient. Simulation result is obtained and it is very useful for designers to ameliorate the interaction with the real world

An Application of Augmented Reality (AR) in the manipulation of Fanuc 200iC robot

International audience—In this paper, the simulation and manipulation of 6DOF robot manipulator is presented using the kinematic modeland an AR (Augmented reality) environment. In this context,the system is based on a multimodal user interface to overlayvirtual objects onto the real world scene. The objective of thiswork is by providing the right information needed to performa certain task. The determination of the camera pose in theAR system is solved by using the most popular algorithm in ARapplications (ARToolKit). Experiment is carried out to verify theeffectiveness of the simulator. The results show that it can satisfythe manipulation in term of accuracy and stabilit

Dynamic modeling, simulation and PID controller of unmanned aerial vehicle UAV

International audienceThis paper is focused on modeling and control of quadrotor; first modeling of moments and torque, second is of rotor, the result is the complete dinamincs of UAV. mathematical model is presented for a general study with disturbance and we take account all parameters of control. the PID controller is presented without disturbance in dynamics equation for a linear model, where we can used in the control of a group of quadrotors for obstacle avoidance, and a group of quadrotors with a rigid and flexible links for transporting payloads in the free environment. finaly our results is simulated in the simulink and the virtual reality environment