346 results on '"Aerial Manipulation"'
Search Results
2. A Compact Aerial Manipulator: Design and Control for Dexterous Operations.
- Author
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Liu, Qianyuan, Liu, Yuhang, Chen, Zeshuai, Guo, Kexin, Yu, Xiang, Zhang, Youmin, and Guo, Lei
- Abstract
The lack of aerial physical interaction capability is one of the choke points limiting the extension of aerial robot applications, such as rescue missions and aerial maintenance. We present a new aerial robotic manipulator (AEROM) for aerial dexterous operations in this work. It contains a robotic manipulator with 6-degree-of-freedom and a compact flight platform. Firstly, we propose a quantitative capability index to evaluate and guide the mechanical design of the AEROM. Based on the proposed quantitative index, we construct a lightweight bird-inspired manipulator to imitate a raptor hindlimb. An additional telescopic joint and an end-effector consisting of three soft fingers allow the AEROM to execute aerial interaction tasks. In addition, the wrist joints enable independent control of the end-effector attitude regardless of the flight platform. After explicitly analyzing the multi-source disturbances during the aerial operation tasks, we develop a refined anti-disturbance controller to compensate for the disturbances with different characteristics. The proposed controller further improves the position accuracy of end-effector to enable dexterous operations during aerial interaction tasks. Finally, the physical experiments verify the effectiveness of the proposed AEROM system. [ABSTRACT FROM AUTHOR]
- Published
- 2024
- Full Text
- View/download PDF
3. Development of a Semi-autonomous Framework for NDT Inspection with a Tilting Aerial Platform
- Author
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Marcellini, Salvatore, D’Angelo, Simone, De Crescenzo, Alessandro, Marolla, Michele, Lippiello, Vincenzo, Siciliano, Bruno, Siciliano, Bruno, Series Editor, Khatib, Oussama, Series Editor, Antonelli, Gianluca, Advisory Editor, Fox, Dieter, Advisory Editor, Harada, Kensuke, Advisory Editor, Hsieh, M. Ani, Advisory Editor, Kröger, Torsten, Advisory Editor, Kulic, Dana, Advisory Editor, Park, Jaeheung, Advisory Editor, and Ang Jr, Marcelo H., editor
- Published
- 2024
- Full Text
- View/download PDF
4. Flapping-Wing Aerial Manipulation Robot with Perching-Launching Capabilities: Integrated Modeling and Control
- Author
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Scalvini, Alessandro, Suarez, Alejandro, Nekoo, Saeed Rafee, Ollero, Anibal, Kacprzyk, Janusz, Series Editor, Gomide, Fernando, Advisory Editor, Kaynak, Okyay, Advisory Editor, Liu, Derong, Advisory Editor, Pedrycz, Witold, Advisory Editor, Polycarpou, Marios M., Advisory Editor, Rudas, Imre J., Advisory Editor, Wang, Jun, Advisory Editor, Marques, Lino, editor, Santos, Cristina, editor, Lima, José Luís, editor, Tardioli, Danilo, editor, and Ferre, Manuel, editor
- Published
- 2024
- Full Text
- View/download PDF
5. Trajectory Tracking Control of an Aerial Manipulator in the Presence of Disturbances and Model Uncertainties.
- Author
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Pedrocco, Mattia, Pasetto, Alberto, Fanti, Giulio, Benato, Alberto, and Cocuzza, Silvio
- Subjects
KINEMATICS ,BRIDGES ,SENSOR placement ,ARCHAEOLOGICAL excavations ,ARTIFICIAL satellite tracking ,TALL buildings ,SPACE robotics ,CHARGE carrier mobility - Abstract
Featured Application: Inspection of structures, e.g., offshore/nuclear/eolic plants, bridges, and tall buildings. Inspection of archaeological sites. Placement and retrieval of sensors. Assembly of structures in places not accessible/safe for humans. The precise control of an aerial manipulator presents a formidable challenge due to the inherent mobility of its base, which is subject to both external disturbances and dynamic disturbances due to manipulator motions. In this paper, we introduce two Closed-Loop Inverse Kinematics (CLIK) control algorithms tailored to aerial manipulators. The first algorithm operates at the velocity level and uses the Generalized Jacobian for inverse kinematics, while the second one operates at the acceleration level. We evaluate their performance in a simulated environment, replicating real-world challenges such as the wind effect, sensors noise, uncertainty of the system inertial parameters, and impulsive forces at the end-effector. Trajectory tracking simulated experiments are carried out for a two- and three-degree-of-freedom (DOF) aerial manipulator tracking a circular trajectory with its end-effector. Both algorithms demonstrate promising results in coping with external disturbances and variations in the inertial parameters, enhancing the precision of the trajectory tracking control. The acceleration-level algorithm shows overall better performance compared to the velocity-level one in the face of greater implementation complexity and computational burden. [ABSTRACT FROM AUTHOR]
- Published
- 2024
- Full Text
- View/download PDF
6. Combined algorithms for analytical inverse kinematics solving and control of the Q-PRR aerial manipulator.
- Author
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Bouzgou, Kamel, Benchikh, Laredj, Nouveliere, Lydie, Ahmed-Foitih, Zoubir, and Bestaoui, Yasmina
- Subjects
- *
KINEMATICS , *CENTER of mass , *ATTITUDE change (Psychology) , *DYNAMIC models , *ALGORITHMS - Abstract
This article presents the design and modeling of a new aerial manipulator system, called Q-PRR, composed of three joints with a fixed base in the center of mass of the multirotor considered as a whole system. This structure has a prismatic joint as a first joint which allows to keep the center of gravity of the Q-PRR as close as possible to the center of gravity of the multirotor. This will also allow to reduce the influence of arm motion on the multirotor roll thus to ensure the stability of the system on trajectory tracking with dynamic changes in the multirotor's center of gravity. Furthermore, the configuration of the manipulator arm for the desired position of the end-effector given by the inverse kinematics model is kept without any change in the position and attitude of the multirotor. This article develops both forward and inverse kinematics models for a nonlinear underactuated system using the Denavit–Hartenberg notation. When a new algorithm is presented for the inverse kinematics based on Levenberg–Marquardt algorithm. Then, the dynamic model in the joint spaces is developed with the Lagrangian formalism. The Q-PRR is controlled using a model-free control with a comparison of two states, a free fly and disturbance forces applied to the whole system with manipulator arm movement. [ABSTRACT FROM AUTHOR]
- Published
- 2024
- Full Text
- View/download PDF
7. Terra-22: an aerial soil sampling in densely compacted agricultural fields
- Author
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Hugo B. Klopfenstein and Alexis Lussier Desbiens
- Subjects
soil sampling ,scouting ,drone ,aerial manipulation ,precision agriculture ,Motor vehicles. Aeronautics. Astronautics ,TL1-4050 - Abstract
Soil sampling is used in agriculture to monitor fields and plan fertilizer application. This task is typically performed manually, but ground robots have recently been introduced. However, ground robots are often slow and heavy, which contributes to soil compaction. Fast-flying drones could provide an interesting alternative to ground robots. However, drones are severely limited in their payload and in the forces that they can apply to the soil. This paper presents the Terra-22, the first airborne system capable of sampling densely compacted agricultural soils. To do so, many challenges were addressed, including the development of (i) a high-power density drilling system that outperforms typical brushed DC gear motor by 39%, (ii) a drill design that is 48% lighter than traditional steel auger drills and that keeps cross-contamination under 4%, and (iii) a drill penetration rate controller that reduces the torque requirement by 33% and the axial force requirement by eight folds when compared to a constant penetration speed controller. Outdoor soil sampling tests in a corn field (sandy loam soil, compaction between 0.8 and 2 MPa) demonstrated a 94% success rate on flat terrain and a sampling duration under one minute.
- Published
- 2024
- Full Text
- View/download PDF
8. A Suspended Aerial Manipulation Avatar for Physical Interaction in Unstructured Environments
- Author
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Fanyi Kong, Grazia Zambella, Simone Monteleone, Giorgio Grioli, Manuel G. Catalano, and Antonio Bicchi
- Subjects
Aerial manipulation ,dual-arm robot ,teleoperated avatar ,cable-suspended robot ,Electrical engineering. Electronics. Nuclear engineering ,TK1-9971 - Abstract
This paper presents an aerial platform capable of performing physically interactive tasks in unstructured environments with human-like dexterity under human supervision. This aerial platform consists of a humanoid torso attached to a hexacopter. A two-degree-of-freedom head and two five-degree-of-freedom arms equipped with SoftHands provide the requisite dexterity to allow human operators to carry out various tasks. A robust tendon-driven structure is purposefully designed for the arms, considerably reducing the impact of arm inertia on the aerial base in motion. In addition, tendons provide flexibility to the joints, which enhances the robustness of the arm preventing damage in interaction with the environment. To increase the payload of the aerial system and the battery life, we use the concept of Suspended Aerial Manipulation, i.e., the flying humanoid can be connected with a tether to a structure, e.g., a building, a fixed bracket, a supporting crane, or a larger airborne carrier. Importantly, to maximize portability and applicability, we adopt a modular approach exploiting commercial components for the aerial base hardware and autopilot. We develop an outer stabilizing control loop to maintain the attitude, compensating for the tether force and for the humanoid head and arm motions. The humanoid can be controlled by a remote operator, thus effectively realizing a Suspended Aerial Manipulation Avatar. The proposed system is validated through experiments in indoor scenarios reproducing post-disaster tasks.
- Published
- 2024
- Full Text
- View/download PDF
9. Multi-directional Interaction Force Control with an Aerial Manipulator Under External Disturbances.
- Author
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Malczyk, Grzegorz, Brunner, Maximilian, Cuniato, Eugenio, Tognon, Marco, and Siegwart, Roland
- Abstract
To improve accuracy and robustness of interactive aerial robots, the knowledge of the forces acting on the platform is of uttermost importance. The robot should distinguish interaction forces from external disturbances in order to be compliant with the firsts and reject the seconds. This represents a challenge since disturbances might be of different nature (physical contact, aerodynamic, modeling errors) and be applied to different points of the robot. This work presents a new extended Kalman filter (EKF) based estimator for both external disturbance and interaction forces. The estimator fuses information coming from the system's dynamic model and it's state with wrench measurements coming from a Force-Torque sensor. This allows for robust interaction control at the tool's tip even in presence of external disturbance wrenches acting on the platform. We employ the filter estimates in a novel hybrid force/motion controller to perform force tracking not only along the tool direction, but from any platform's orientation, without losing the stability of the pose controller. The proposed framework is extensively tested on an omnidirectional aerial manipulator (AM) performing push and slide operations and transitioning between different interaction surfaces, while subject to external disturbances. The experiments are done equipping the AM with two different tools: a rigid interaction stick and an actuated delta manipulator, showing the generality of the approach. Moreover, the estimation results are compared to a state-of-the-art momentum-based estimator, clearly showing the superiority of the EKF approach. [ABSTRACT FROM AUTHOR]
- Published
- 2023
- Full Text
- View/download PDF
10. Tendon-Driven Continuum Robots for Aerial Manipulation—A Survey of Fabrication Methods
- Author
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Anuraj Uthayasooriyan, Fernando Vanegas, Amir Jalali, Krishna Manaswi Digumarti, Farrokh Janabi-Sharifi, and Felipe Gonzalez
- Subjects
aerial manipulation ,continuum arm aerial manipulation ,tendon-driven continuum robots ,continuum robots ,continuum manipulators ,continuum robot design ,Motor vehicles. Aeronautics. Astronautics ,TL1-4050 - Abstract
Aerial manipulators have seen a rapid uptake for multiple applications, including inspection tasks and aerial robot–human interaction in building and construction. Whilst single degree of freedom (DoF) and multiple DoF rigid link manipulators (RLMs) have been extensively discussed in the aerial manipulation literature, continuum manipulators (CMs), often referred to as continuum robots (CRs), have not received the same attention. This survey seeks to summarise the existing works on continuum manipulator-based aerial manipulation research and the most prevalent designs of continuous backbone tendon-driven continuum robots (TDCRs) and multi-link backbone TDCRs, thereby providing a structured set of guidelines for fabricating continuum robots for aerial manipulation. With a history spanning over three decades, dominated by medical applications, CRs are now increasingly being used in other domains like industrial machinery and system inspection, also gaining popularity in aerial manipulation. Fuelled by diverse applications and their associated challenges, researchers have proposed a plethora of design solutions, primarily falling within the realms of concentric tube (CT) designs or tendon-driven designs. Leveraging research works published in the past decade, we place emphasis on the preparation of backbones, support structures, tendons, stiffness control, test procedures, and error considerations. We also present our perspectives and recommendations addressing essential design and fabrication aspects of TDCRs in the context of aerial manipulation, and provide valuable guidance for future research and development endeavours in this dynamic field.
- Published
- 2024
- Full Text
- View/download PDF
11. Flying Hydraulically Amplified Electrostatic Gripper System for Aerial Object Manipulation
- Author
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Tscholl, Dario, Gravert, Stephan-Daniel, Appius, Aurel X., Katzschmann, Robert K., Siciliano, Bruno, Series Editor, Khatib, Oussama, Series Editor, Antonelli, Gianluca, Advisory Editor, Fox, Dieter, Advisory Editor, Harada, Kensuke, Advisory Editor, Hsieh, M. Ani, Advisory Editor, Kröger, Torsten, Advisory Editor, Kulic, Dana, Advisory Editor, Park, Jaeheung, Advisory Editor, Billard, Aude, editor, and Asfour, Tamim, editor
- Published
- 2023
- Full Text
- View/download PDF
12. Gaussian Adaptive Mutation Pigeon-Inspired Optimized Backstepping Controller for Aerial Manipulation Trajectory Tracking
- Author
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Bin, Lin, Wei, Chen, Duan, Haibin, Angrisani, Leopoldo, Series Editor, Arteaga, Marco, Series Editor, Panigrahi, Bijaya Ketan, Series Editor, Chakraborty, Samarjit, Series Editor, Chen, Jiming, Series Editor, Chen, Shanben, Series Editor, Chen, Tan Kay, Series Editor, Dillmann, Rüdiger, Series Editor, Duan, Haibin, Series Editor, Ferrari, Gianluigi, Series Editor, Ferre, Manuel, Series Editor, Hirche, Sandra, Series Editor, Jabbari, Faryar, Series Editor, Jia, Limin, Series Editor, Kacprzyk, Janusz, Series Editor, Khamis, Alaa, Series Editor, Kroeger, Torsten, Series Editor, Li, Yong, Series Editor, Liang, Qilian, Series Editor, Martín, Ferran, Series Editor, Ming, Tan Cher, Series Editor, Minker, Wolfgang, Series Editor, Misra, Pradeep, Series Editor, Möller, Sebastian, Series Editor, Mukhopadhyay, Subhas, Series Editor, Ning, Cun-Zheng, Series Editor, Nishida, Toyoaki, Series Editor, Oneto, Luca, Series Editor, Pascucci, Federica, Series Editor, Qin, Yong, Series Editor, Seng, Gan Woon, Series Editor, Speidel, Joachim, Series Editor, Veiga, Germano, Series Editor, Wu, Haitao, Series Editor, Zamboni, Walter, Series Editor, Zhang, Junjie James, Series Editor, Yan, Liang, editor, and Deng, Yimin, editor
- Published
- 2023
- Full Text
- View/download PDF
13. Detection and Tracking of Pinus Radiata Catkins
- Author
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Song, Eric, Schofield, Sam, Green, Richard, Goos, Gerhard, Founding Editor, Hartmanis, Juris, Founding Editor, Bertino, Elisa, Editorial Board Member, Gao, Wen, Editorial Board Member, Steffen, Bernhard, Editorial Board Member, Yung, Moti, Editorial Board Member, Yan, Wei Qi, editor, Nguyen, Minh, editor, and Stommel, Martin, editor
- Published
- 2023
- Full Text
- View/download PDF
14. Modeling and Application of an SMA-Actuated Lightweight Human-Inspired Gripper for Aerial Manipulation.
- Author
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Perez-Sanchez, Vicente, Garcia-Rubiales, Francisco Javier, Nekoo, Saeed Rafee, Arrue, Begoña, and Ollero, Anibal
- Subjects
SHAPE memory alloys ,ARTIFICIAL hands ,ELEVATING platforms - Abstract
The increasing usage of multi-rotor aerial platforms and the reliability of flights enabled researchers to add equipment and devices to them for application. The addition of lightweight manipulators, grippers, and mechanisms to fulfill specific tasks has been reported frequently recently. This work pushes the idea one step ahead and uses an Artificial Human Hand (AHH) in an uncrewed aerial vehicle for aerial manipulation, device delivery, and co-operation with human workers. This application requires an effective end-effector capable of grasping and holding objects of different shapes. The AHH is a lightweight custom-made human-inspired design actuated using Shape Memory Alloy (SMA) materials. The SMA actuators offer significantly high forces with respect to their light weights though the control of these new actuators is a challenge that has been successfully demonstrated in this paper. The control of the SMA actuators could be achieved via heat exchange on the actuator, indirectly carried out by changing the current. The benefit of using this new actuator is removing the motors and mechanical mechanisms and simplifying the design. A soft cover is developed for the AHH to add friction and make it closer to a human hand. The modeling of the structured actuators on the system through tendons is presented, and a series of experiments for handling and manipulating different objects have been conducted. The objects were chosen with different weights and shapes to show the effectiveness of the design. An analysis of a generated torque of the manipulator for different cylindrical objects has been carried out. An analysis and comparison for grasping a series of items, pressure and temperature analysis, and the weight-to-volume ratio have been presented. [ABSTRACT FROM AUTHOR]
- Published
- 2023
- Full Text
- View/download PDF
15. The Mamba: A Suspended Manipulator to Sample Plants in Cliff Environments
- Author
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Hughes La Vigne, Guillaume Charron, David Rancourt, and Alexis Lussier Desbiens
- Subjects
suspended manipulator ,aerial manipulation ,robot for environment ,cliff drone ,conservation drone ,plant sampling drone ,Motor vehicles. Aeronautics. Astronautics ,TL1-4050 - Abstract
Conservation efforts in cliff habitats pose unique challenges due to their inaccessibility, limiting the study and protection of rare endemic species. This project introduces a novel approach utilizing aerial manipulation through a suspended manipulator attached with a cable under a drone to address these challenges. Unlike existing solutions, the Mamba provides a horizontal reach up to 8 m to approach cliffs while keeping the drone at a safe distance. The system includes a model-based control system relying solely on an inertial measurement unit (IMU), reducing sensor requirements and computing power to minimize overall system mass. This article presents novel contributions such as a double pendulum dynamic modeling approach and the development and evaluation of a precise control system for sampling operations. Indoor and outdoor tests demonstrate the effectiveness of the suspended aerial manipulator in real-world environments allowing the collection of 55 samples from 28 different species. This research signifies a significant step toward enhancing the efficiency and safety of conservation efforts in challenging cliff habitats.
- Published
- 2024
- Full Text
- View/download PDF
16. Trajectory Tracking Control of an Aerial Manipulator in the Presence of Disturbances and Model Uncertainties
- Author
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Mattia Pedrocco, Alberto Pasetto, Giulio Fanti, Alberto Benato, and Silvio Cocuzza
- Subjects
aerial manipulation ,UAV ,robot ,inverse kinematics ,trajectory tracking control ,Technology ,Engineering (General). Civil engineering (General) ,TA1-2040 ,Biology (General) ,QH301-705.5 ,Physics ,QC1-999 ,Chemistry ,QD1-999 - Abstract
The precise control of an aerial manipulator presents a formidable challenge due to the inherent mobility of its base, which is subject to both external disturbances and dynamic disturbances due to manipulator motions. In this paper, we introduce two Closed-Loop Inverse Kinematics (CLIK) control algorithms tailored to aerial manipulators. The first algorithm operates at the velocity level and uses the Generalized Jacobian for inverse kinematics, while the second one operates at the acceleration level. We evaluate their performance in a simulated environment, replicating real-world challenges such as the wind effect, sensors noise, uncertainty of the system inertial parameters, and impulsive forces at the end-effector. Trajectory tracking simulated experiments are carried out for a two- and three-degree-of-freedom (DOF) aerial manipulator tracking a circular trajectory with its end-effector. Both algorithms demonstrate promising results in coping with external disturbances and variations in the inertial parameters, enhancing the precision of the trajectory tracking control. The acceleration-level algorithm shows overall better performance compared to the velocity-level one in the face of greater implementation complexity and computational burden.
- Published
- 2024
- Full Text
- View/download PDF
17. TRIGGER: A Lightweight Universal Jamming Gripper for Aerial Grasping
- Author
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Paul Kremer, Hamed Rahimi Nohooji, Jose Luis Sanchez-Lopez, and Holger Voos
- Subjects
Universal jamming gripper ,aerial manipulation ,soft gripper ,soft robotics ,grasping ,Electrical engineering. Electronics. Nuclear engineering ,TK1-9971 - Abstract
This work introduces TRIGGER, the first lighTweight univeRsal jammInG Gripper for aErial gRasping. TRIGGER is an omnidirectional, landing-capable aerial grasping system with resilience and robustness to collisions and inherent passive compliance. In particular, this work presents the design, fabrication, and experimental validation of a novel, intelligent, modular, universal jamming gripper specifically designed for aerial applications. Leveraging recent developments in particle jamming and soft granular materials, TRIGGER generates 15 N of holding force with only a relatively small activation force of 2.5 N. Experiments show the relationship between fill ratio and activation force and reveal that adding an additive to the membrane’s silicone mixture improves the holding force by up to 52 %. Based on the experimental data, a simulation model for robotic simulators is introduced to facilitate future controller developments. To showcase the concept, TRIGGER is attached to a multicopter platform, performing a pick-and-place task under laboratory conditions. The aerial experiments are concluded by grasping a variety of shapes demonstrating the universal grasping capability.
- Published
- 2023
- Full Text
- View/download PDF
18. Autonomous control design of an unmanned aerial manipulator for contact inspection.
- Author
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Zeng, Junhao, Zhong, Hang, Wang, Yaonan, Fan, Shuangwen, and Zhang, Hui
- Subjects
- *
MANIPULATORS (Machinery) , *IMPEDANCE control , *ROBOTICS , *DESIGN - Abstract
In recent years, autonomous control based on contact inspections in unknown environments is a new hot and difficult point in robotics research. This paper presents a new control law for unmanned aerial manipulator (UAM) to perform contact inspection tasks on vertical surfaces. The selected circular image feature decouples the position and attitude of UAM, so an image-based impedance control is proposed to control the position and track the contact force. The developed controller uses geometric methods to control the attitude. In addition, the designed aerial manipulator decouples the roll and pitch of the UAV from the UAV, which improves the system's stability. Experiments have been carried out to demonstrate the feasibility of this method. [ABSTRACT FROM AUTHOR]
- Published
- 2023
- Full Text
- View/download PDF
19. Null-Space Minimization of Center of Gravity Displacementof a Redundant Aerial Manipulator.
- Author
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Vyas, Yash, Pasetto, Alberto, Ayala-Alfaro, Victor, Massella, Nicola, and Cocuzza, Silvio
- Subjects
CENTER of mass ,MULTI-degree of freedom - Abstract
Displacements of the base during trajectory tracking are a common issue in the control of aerial manipulators. These are caused by reaction torques transferred to the base due to the manipulator motion and, in particular, to the motion of its center of gravity. We present a novel approach to reduce base displacements of a kinematically redundant aerial manipulator by using null-space projection in the inverse kinematic control. A secondary objective function minimizes the horizontal displacement of the manipulator center of gravity. We test this algorithm on different trajectories for both three and four degrees of freedom (DOF) manipulators in a simulation environment. The results comparing our algorithm with inverse kinematic control without the null-space projection show up to an 80% reduction in the end-effector position error and an average of about 56% reduction in maximum base displacement. The simulation implementation also runs faster than in real-time in our code implementation. We provide a workspace analysis based on multiple stopping criteria such as excessive base displacement, joint velocities and end-effector position error for the 3 and 4 DOF manipulators. As expected, the 4 DOF manipulator has a larger workspace. [ABSTRACT FROM AUTHOR]
- Published
- 2023
- Full Text
- View/download PDF
20. Modeling and control for aerial manipulation based on center of inertia on SE(3).
- Author
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Guo, Pin, Xu, Kun, Deng, Huichao, Liu, Haoyuan, and Ding, Xilun
- Abstract
The multipropeller aerial manipulation robot (MAMR) is composed of a multirotor aircraft and a manipulator. It has strong nonlinear coupling and underactuated characteristics, and its dynamics and control problems pose great challenges for researchers. In this paper, the dynamic model of MAMR based on the center of inertia (COI) is established, and the COI is expressed by exponential coordinates on the special Euclidean group SE(3). This kind of model based on COI considers the rotorcraft and the manipulator as a single system. The model can describe the motion of the MAMR by considering the change in the MAMR's COI. The multi-rigid body system of a separated rotorcraft and manipulator is regarded as a single rigid system, which solves the strong coupling problem and realizes the pose integrated motion description. Then, based on the COI dynamics, a cascade trajectory linearization controller is designed to stabilize the MAMR. The cascade control architecture is very suitable for real-world experiments because of its convenience of parameter adjustment. The stability of the controller is proved by the Lyapunov method. Furthermore, the stability of the system is verified by simulation. Finally, a prototype is built, and outdoor experiments are carried out to prove the feasibility and effectiveness of our proposed method. [ABSTRACT FROM AUTHOR]
- Published
- 2023
- Full Text
- View/download PDF
21. Zero Reaction Torque Trajectory Tracking of an Aerial Manipulator through Extended Generalized Jacobian.
- Author
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Pasetto, Alberto, Vyas, Yash, and Cocuzza, Silvio
- Subjects
MANIPULATORS (Machinery) ,SPACE robotics ,INDUSTRIAL robots ,ROBOTIC assembly ,TORQUE ,CENTER of mass ,DRONE aircraft - Abstract
Featured Application: Inspection of structures, e.g., offshore/nuclear/eolic plants, bridges, and tall buildings. Placement and retrieval of sensors. Assembly of structures in places not accessible/safe for humans. Aerial manipulators are used in industrial and service robotics tasks such as assembly, inspection, and maintenance. One of the main challenges in aerial manipulation is related to the motion of the UAV base caused by manipulator disturbance torques and forces, which jeopardize the precision of the robot manipulator. In this paper, we propose two novel inverse kinematic control methods used to track a trajectory with an aerial manipulator while also considering resultant UAV base motions. The first method is adapted from the generalized Jacobian formulation used in space robotics and includes the change in system momentum resulting from gravity and UAV control forces in the inverse kinematic control equation. This approach is simulated for a 2 and 3 degree-of-freedom aerial manipulator tracking trajectories with the end-effector. Although the end-effector position error is approximately zero throughout the simulated task, we see significant undesired UAV base motions of several centimeters in magnitude. To ameliorate this by exploiting the kinematic redundancy, we modify the generalized Jacobian by adding an additional task constraint which minimizes the reaction torques from the manipulator, to form the extended generalized Jacobian. While the second approach results in improved precision and reduced base motion by an order of magnitude as compared to the generalized Jacobian, a drawback is the reduction in the available workspace as the solution seeks to minimize the manipulator center of gravity translation. We also demonstrate and compare both approaches in a load picking task. All the algorithms are completed computationally faster than real time in the MATLAB simulations, illustrating their potential for application in real-world experiments. [ABSTRACT FROM AUTHOR]
- Published
- 2022
- Full Text
- View/download PDF
22. Aerial Torsional Work Utilizing a Multirotor UAV with Add-on Thrust Vectoring Device
- Author
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Ricardo Rosales Martinez, Hannibal Paul, and Kazuhiro Shimonomura
- Subjects
multirotor ,aerial manipulation ,torsional work ,thrust vectoring ,valve manipulation ,Motor vehicles. Aeronautics. Astronautics ,TL1-4050 - Abstract
Aerial manipulation aims to combine the versatility and the agility of aerial platforms with the manipulation capabilities of robotic arms. Their fast deployment allows for their implementation in maintenance tasks and support during disaster situations. However, the under-actuated nature of multirotor UAVs limits the magnitude and direction of the forces an aerial vehicle can safely exert during manipulation tasks. In this paper, the problems associated with UAVs and torsional tasks constraints regarding valve turning are addressed. An add-on thrust vectoring device which enhances manipulation options available to a conventional multirotor UAV is developed and described. The proposed system allows for a partial decoupling of the attitude and velocity vector of a multirotor. This permits stable translational flight and higher torque capabilities for torsional tasks. The separation of attitude and the velocity vector that allows for the design of a passive mechanism for valve operation is presented in this paper as well. The experimental results illustrate the forces and torques that can be generated in the evaluated operation modes.
- Published
- 2023
- Full Text
- View/download PDF
23. Modeling and Application of an SMA-Actuated Lightweight Human-Inspired Gripper for Aerial Manipulation
- Author
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Vicente Perez-Sanchez, Francisco Javier Garcia-Rubiales, Saeed Rafee Nekoo, Begoña Arrue, and Anibal Ollero
- Subjects
aerial robotics ,aerial manipulation ,artificial human hand ,sma actuators ,human inspired gripper ,Mechanical engineering and machinery ,TJ1-1570 - Abstract
The increasing usage of multi-rotor aerial platforms and the reliability of flights enabled researchers to add equipment and devices to them for application. The addition of lightweight manipulators, grippers, and mechanisms to fulfill specific tasks has been reported frequently recently. This work pushes the idea one step ahead and uses an Artificial Human Hand (AHH) in an uncrewed aerial vehicle for aerial manipulation, device delivery, and co-operation with human workers. This application requires an effective end-effector capable of grasping and holding objects of different shapes. The AHH is a lightweight custom-made human-inspired design actuated using Shape Memory Alloy (SMA) materials. The SMA actuators offer significantly high forces with respect to their light weights though the control of these new actuators is a challenge that has been successfully demonstrated in this paper. The control of the SMA actuators could be achieved via heat exchange on the actuator, indirectly carried out by changing the current. The benefit of using this new actuator is removing the motors and mechanical mechanisms and simplifying the design. A soft cover is developed for the AHH to add friction and make it closer to a human hand. The modeling of the structured actuators on the system through tendons is presented, and a series of experiments for handling and manipulating different objects have been conducted. The objects were chosen with different weights and shapes to show the effectiveness of the design. An analysis of a generated torque of the manipulator for different cylindrical objects has been carried out. An analysis and comparison for grasping a series of items, pressure and temperature analysis, and the weight-to-volume ratio have been presented.
- Published
- 2023
- Full Text
- View/download PDF
24. A 79.7g Manipulator Prototype for E-Flap Robot: A Plucking-Leaf Application
- Author
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Saeed Rafee Nekoo, Daniel Feliu-Talegon, Jose Angel Acosta, and Anibal Ollero
- Subjects
Flapping-wing robot ,lightweight manipulator ,aerial manipulation ,aerial robot ,leaf plucking ,Electrical engineering. Electronics. Nuclear engineering ,TK1-9971 - Abstract
The manipulation capabilities of flapping-wing flying robots (FWFRs) is a problem barely studied. This is a direct consequence of the load-carrying capacity limitation of the flapping-wing robots. Ornithopters will improve the existent multirotor unmanned aerial vehicles (UAVs) since they could perform longer missions and offer a safe interaction in proximity to humans. This technology also opens the possibility to perch in some trees and perform tasks such as obtaining samples from nature, enabling biologists to collect samples in remote places, or assisting people in rescue missions by carrying medicines or first-aid kits. This paper presents a very lightweight manipulator (79.7g) prototype to be mounted on an ornithopter. The distribution of the mass on the flapping-wing robot is sensitive and an extra lumped mass far from the center-of-mass (CoM) of the robot deteriorates the flight stability. A configuration was proposed to avoid changing the CoM. Flight experiments show that adding the arm to the robot only moved the CoM 6mm and the performance of the flight with the manipulator has been satisfactory. Plucking leaf is chosen as an application to the designed system and several experimental tests confirmed successful sampling of leaves by the prototype.
- Published
- 2022
- Full Text
- View/download PDF
25. An Immersion and Invariance Controller for Aerial Manipulation.
- Author
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Luna, Aarón López, Cortés, Hugo Rodríguez, Vega, Israel Cruz, and Martinez-Carranza, Jose
- Subjects
- *
MANIPULATORS (Machinery) , *ADAPTIVE control systems , *AEROSPACE engineering , *MOTION capture (Human mechanics) , *SLIDING mode control , *MICRO air vehicles - Published
- 2022
- Full Text
- View/download PDF
26. Rock-and-Walk Manipulation: Object Locomotion by Passive Rolling Dynamics and Periodic Active Control.
- Author
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Nazir, Abdullah, Xu, Pu, and Seo, Jungwon
- Subjects
- *
OBJECT manipulation , *ROBOT motion , *ROBOT hands , *ROBOT kinematics , *GRAVITY , *ROBOTS , *ARCHAEOLOGISTS , *SPACE robotics - Abstract
This study presents the method of robotic rock-and-walk manipulation for dynamic, nonprehensile object locomotion. The object, which is in contact with an environmental surface, is basically manipulated to rock from side to side about the contact point periodically by the robot system. In the meantime, the passive dynamics due to gravity enables the object to roll along a zigzag path that leads to a forward walk. Rock-and-walk is a special-purpose method that enables the transport of a certain class of objects, which are too large, heavy to apply other primary methods such as grasping- or pushing-based operations. Our work is motivated by an interesting question in archaeology, how the giant statues of Easter Island (known as “moai”) were transported several hundred years ago, and a recent demonstration performed by archaeologists that it is possible to walk the statue by periodic rocking. We present a detailed study of the dynamics, kinematics, and mechanics of the object-robot-environment system, and devise a feedback control strategy for rock-and-walk gaiting through the effective regulation of the object’s energy and posture. An extensive set of experiments demonstrate the viability and practicality of our approach in diverse settings: Caging-based single-robot manipulation and cable-driven dual-robot manipulation using manipulator arms and aerial robots. [ABSTRACT FROM AUTHOR]
- Published
- 2022
- Full Text
- View/download PDF
27. A Hybrid Modelling Approach for Aerial Manipulators.
- Author
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Kremer, Paul, Sanchez-Lopez, Jose Luis, and Voos, Holger
- Abstract
Aerial manipulators (AM) exhibit particularly challenging, non-linear dynamics; the UAV and its manipulator form a tightly coupled dynamic system, mutually impacting each other. The mathematical model describing these dynamics forms the core of many solutions in non-linear control and deep reinforcement learning. Traditionally, the formulation of the dynamics involves Euler angle parametrization in the Lagrangian framework or quaternion parametrization in the Newton-Euler framework. The former has the disadvantage of giving birth to singularities and the latter being algorithmically complex. This work presents a hybrid solution, combining the benefits of both, namely a quaternion approach leveraging the Lagrangian framework, connecting the singularity-free parameterization with the algorithmic simplicity of the Lagrangian approach. We do so by offering detailed insights into the kinematic modeling process and the formulation of the dynamics of a general aerial manipulator. The obtained dynamics model is validated experimentally against a real-time physics engine. A practical application of the obtained dynamics model is shown in the context of a computed torque feedback controller (feedback linearization), where we analyze its real-time capability with increasingly complex AM models. [ABSTRACT FROM AUTHOR]
- Published
- 2022
- Full Text
- View/download PDF
28. TCP Muscle Tensors: Theoretical Analysis and Potential Applications in Aerial Robotic Systems
- Author
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Gomez-Tamm, Alejandro Ernesto, Ramon-Soria, Pablo, Arrue, B. C., Ollero, Aníbal, Kacprzyk, Janusz, Series Editor, Pal, Nikhil R., Advisory Editor, Bello Perez, Rafael, Advisory Editor, Corchado, Emilio S., Advisory Editor, Hagras, Hani, Advisory Editor, Kóczy, László T., Advisory Editor, Kreinovich, Vladik, Advisory Editor, Lin, Chin-Teng, Advisory Editor, Lu, Jie, Advisory Editor, Melin, Patricia, Advisory Editor, Nedjah, Nadia, Advisory Editor, Nguyen, Ngoc Thanh, Advisory Editor, Wang, Jun, Advisory Editor, Silva, Manuel F., editor, Luís Lima, José, editor, Reis, Luís Paulo, editor, Sanfeliu, Alberto, editor, and Tardioli, Danilo, editor
- Published
- 2020
- Full Text
- View/download PDF
29. Design of an Active-Reliable Grasping Mechanism for Autonomous Unmanned Aerial Vehicles
- Author
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Nedungadi, Ashwin Suresh, Saska, Martin, Goos, Gerhard, Founding Editor, Hartmanis, Juris, Founding Editor, Bertino, Elisa, Editorial Board Member, Gao, Wen, Editorial Board Member, Steffen, Bernhard, Editorial Board Member, Woeginger, Gerhard, Editorial Board Member, Yung, Moti, Editorial Board Member, Mazal, Jan, editor, Fagiolini, Adriano, editor, and Vasik, Petr, editor
- Published
- 2020
- Full Text
- View/download PDF
30. One-shot learning for autonomous aerial manipulation
- Author
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Claudio Zito and Eliseo Ferrante
- Subjects
robotics ,one-shot learning ,aerial manipulation ,single and collaborative transportation ,aerial grasping ,Mechanical engineering and machinery ,TJ1-1570 ,Electronic computers. Computer science ,QA75.5-76.95 - Abstract
This paper is concerned with learning transferable contact models for aerial manipulation tasks. We investigate a contact-based approach for enabling unmanned aerial vehicles with cable-suspended passive grippers to compute the attach points on novel payloads for aerial transportation. This is the first time that the problem of autonomously generating contact points for such tasks has been investigated. Our approach builds on the underpinning idea that we can learn a probability density of contacts over objects’ surfaces from a single demonstration. We enhance this formulation for encoding aerial transportation tasks while maintaining the one-shot learning paradigm without handcrafting task-dependent features or employing ad-hoc heuristics; the only prior is extrapolated directly from a single demonstration. Our models only rely on the geometrical properties of the payloads computed from a point cloud, and they are robust to partial views. The effectiveness of our approach is evaluated in simulation, in which one or three quadcopters are requested to transport previously unseen payloads along a desired trajectory. The contact points and the quadcopters configurations are computed on-the-fly for each test by our approach and compared with a baseline method, a modified grasp learning algorithm from the literature. Empirical experiments show that the contacts generated by our approach yield a better controllability of the payload for a transportation task. We conclude this paper with a discussion on the strengths and limitations of the presented idea, and our suggested future research directions.
- Published
- 2022
- Full Text
- View/download PDF
31. Aerial Continuum Manipulation: A New Platform for Compliant Aerial Manipulation
- Author
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Amir Jalali and Farrokh Janabi-Sharifi
- Subjects
aerial manipulation ,continuum robots ,compliance ,cooperative ,conceptual design ,Mechanical engineering and machinery ,TJ1-1570 ,Electronic computers. Computer science ,QA75.5-76.95 - Abstract
Traditional aerial manipulation systems were usually composed of rigid-link manipulators attached to an aerial platform, arising several rigidity-related issues such as difficulties of reach, compliant motion, adaptability to object’s shape and pose uncertainties, and safety of human-manipulator interactions, especially in unstructured and confined environments. To address these issues, partially compliant manipulators, composed of rigid links and compliant/flexible joints, were proposed; however, they still suffer from insufficient dexterity and maneuverability. In this article, a new set of compliant aerial manipulators is suggested. For this purpose, the concept of aerial continuum manipulation system (ACMS) is introduced, several conceptual configurations are proposed, and the functionalities of ACMSs for different applications are discussed. Then, the performances of proposed aerial manipulators are compared with conventional aerial manipulators by implementing available benchmarks in the literature. To enhance the comparison, new features with related benchmarks are presented and used for evaluation purposes. In this study, the advantages of ACMSs over their rigid-link counterparts are illustrated and the potential applications of ACMSs are suggested. The open problems such as those related to dynamic coupling and control of ACMSs are also highlighted.
- Published
- 2022
- Full Text
- View/download PDF
32. Design and integration of a drone based passive manipulator for capturing flying targets.
- Author
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Vidyadhara, B. V., Tony, Lima Agnel, Gadde, Mohitvishnu S., Jana, Shuvrangshu, Varun, V. P., Bhise, Aashay Anil, Sundaram, Suresh, and Ghose, Debasish
- Subjects
- *
MANIPULATORS (Machinery) , *ENERGY consumption , *MEASUREMENT errors , *DRONE aircraft - Abstract
SUMMARY: In this paper, we present a novel passive single degree-of-freedom (DoF) manipulator design and its integration on an autonomous drone to capture a moving target. The end-effector is designed to be passive, to disengage the moving target from a flying UAV and capture it efficiently in the presence of disturbances, with minimal energy usage. It is also designed to handle target sway and the effect of downwash. The passive manipulator is integrated with the drone through a single DoF arm, and experiments are carried out in an outdoor environment. The rack-and-pinion mechanism incorporated for this manipulator ensures safety by extending the manipulator beyond the body of the drone to capture the target. The autonomous capturing experiments are conducted using a red ball hanging from a stationary drone and subsequently from a moving drone. The experiments show that the manipulator captures the target with a success rate of 70% even under environmental/measurement uncertainties and errors. [ABSTRACT FROM AUTHOR]
- Published
- 2022
- Full Text
- View/download PDF
33. Null-Space Minimization of Center of Gravity Displacementof a Redundant Aerial Manipulator
- Author
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Yash Vyas, Alberto Pasetto, Victor Ayala-Alfaro, Nicola Massella, and Silvio Cocuzza
- Subjects
aerial manipulation ,UAV ,robot ,kinematic control ,redundancy ,dynamic balancing ,Mechanical engineering and machinery ,TJ1-1570 - Abstract
Displacements of the base during trajectory tracking are a common issue in the control of aerial manipulators. These are caused by reaction torques transferred to the base due to the manipulator motion and, in particular, to the motion of its center of gravity. We present a novel approach to reduce base displacements of a kinematically redundant aerial manipulator by using null-space projection in the inverse kinematic control. A secondary objective function minimizes the horizontal displacement of the manipulator center of gravity. We test this algorithm on different trajectories for both three and four degrees of freedom (DOF) manipulators in a simulation environment. The results comparing our algorithm with inverse kinematic control without the null-space projection show up to an 80% reduction in the end-effector position error and an average of about 56% reduction in maximum base displacement. The simulation implementation also runs faster than in real-time in our code implementation. We provide a workspace analysis based on multiple stopping criteria such as excessive base displacement, joint velocities and end-effector position error for the 3 and 4 DOF manipulators. As expected, the 4 DOF manipulator has a larger workspace.
- Published
- 2023
- Full Text
- View/download PDF
34. Decoupled Control Design of Aerial Manipulation Systems for Vegetation Sampling Application
- Author
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Zahra Samadikhoshkho and Michael Lipsett
- Subjects
adaptive sliding mode control ,aerial manipulation ,vegetation sampling ,disturbance observer ,nonlinear control ,Motor vehicles. Aeronautics. Astronautics ,TL1-4050 - Abstract
A key challenge in the use of drones for an aerial manipulation task such as cutting tree branches is the control problem, especially in the presence of an unpredictable and nonlinear environment. While prior work focused on simplifying the problem by modeling a simple interaction with branches and controlling the system with nonlinear and non-robust control schemes, the current work deals with the problem by designing novel robust nonlinear controllers for aerial manipulation systems that are appropriate for vegetation sampling. In this regard, two different potential control schemes are proposed: nonlinear disturbance observer-based control (NDOBC) and adaptive sliding mode control (ASMC). Each considers the external disturbances and unknown parameters in controller design. The proposed control scheme in both methods employs a decoupled architecture that treats the unmanned aerial vehicle and the manipulator arm of the sampler payload as separate units. In the proposed control structures, controllers are designed after comprehensively investigating the dynamics of both the aerial vehicle and the robotic arm. Each system is then controlled independently in the presence of external disturbances, unknown parameter changes, and the nonlinear coupling between the aerial vehicle and robotic arm. In addition, fully actuated and underactuated aerial platforms are examined, and their stability and controllability are compared so as to choose the most practical framework. Finally, the simulation findings verify and compare the performance and effectiveness of the proposed control strategies for a custom aerial manipulation system that has been designed and developed for field trials.
- Published
- 2023
- Full Text
- View/download PDF
35. Development of an Anthropomorphic and Dexterous Dual-Arm System for Aerial Cooperative Bimanual Manipulation.
- Author
-
Yang, Peng, Wang, Hao, Liu, Zhen, Dong, Zhiyan, and Zhang, Lihua
- Subjects
MULTI-degree of freedom ,JOINTS (Anatomy) ,AERIAL spraying & dusting in agriculture ,FLIGHT testing ,WRIST - Abstract
It is a challenging task for an aerial manipulator to complete dual-arm cooperative manipulation in an outdoor environment. In this study, a new dual-arm aerial manipulator system with flexible operation is developed. The dual-arm manipulator system is designed for the application of aerial manipulation, and it has the characteristics of low weight, low inertia, and a humanoid arm structure. The arm structure is composed of customized aluminum parts, each manipulator contains four degrees of freedom, similar to the arrangement of human joints, including shoulder yaw, shoulder pitch, elbow pitch, and wrist roll. Next, the workspace of the dual-arm manipulator is simulated and analyzed, and the relevant kinematic and dynamic models are deduced. Finally, through the lift load, accuracy and repeatability, cooperative bimanual manipulation tests on the test bench, and multiple groups of outdoor flight tests, the relevant performance analysis and verification of the dual-arm aerial manipulator system are carried out. The test results evaluate the feasibility of the designed dual-arm aerial manipulator system for outdoor cooperative manipulation. [ABSTRACT FROM AUTHOR]
- Published
- 2022
- Full Text
- View/download PDF
36. Past, Present, and Future of Aerial Robotic Manipulators.
- Author
-
Ollero, Anibal, Tognon, Marco, Suarez, Alejandro, Lee, Dongjun, and Franchi, Antonio
- Subjects
- *
ROBOTICS , *REMOTE control - Abstract
This article analyzes the evolution and current trends in aerial robotic manipulation, comprising helicopters, conventional underactuated multirotors, and multidirectional thrust platforms equipped with a wide variety of robotic manipulators capable of physically interacting with the environment. It also covers cooperative aerial manipulation and interconnected actuated multibody designs. The review is completed with developments in teleoperation, perception, and planning. Finally, a new generation of aerial robotic manipulators is presented with our vision of the future. [ABSTRACT FROM AUTHOR]
- Published
- 2022
- Full Text
- View/download PDF
37. Leader/Follower Force Control of Aerial Manipulators
- Author
-
Konstantinos Gkountas and Anthony Tzes
- Subjects
Aerial manipulation ,cooperation ,control ,manipulator ,robotics ,unmanned aerial systems ,Electrical engineering. Electronics. Nuclear engineering ,TK1-9971 - Abstract
This article focuses on the modeling and controlling of Unmanned Aerial Manipulators (UAMs) in a leader/follower configuration performing a cooperative manipulation task. Each UAM consists of an Unmanned Aerial Vehicle (UAV) with an attached serial-link robotic manipulator. The Recursive Newton-Euler dynamics formulation is employed to account for the interaction between the UAV and its manipulator. The overall system consists of a couple UAMs with a carrying load. The coupling between these systems is due to the exerted forces by their manipulators through the object characterized by its stiffness matrix. A leader/follower control scheme is employed with a stability-analysis tailored to the UAM-pair. The leader UAM defines the trajectory of the moving object while the follower acts so as to reduce the system's internal reaction forces. Simulation studies are employed to validate the controller's performance while comparing the system's response against that derived from a classical nonlinear tracking controller.
- Published
- 2021
- Full Text
- View/download PDF
38. Experimental Evaluation of Aerial Manipulation Robot in Contact With 15 kV Power Line: Shielded and Long Reach Configurations
- Author
-
Alejandro Suarez, Rafael Salmoral, Pedro J. Zarco-Perinan, and Anibal Ollero
- Subjects
Aerial manipulation ,power lines ,electrostatic discharge ,Electrical engineering. Electronics. Nuclear engineering ,TK1-9971 - Abstract
The use of aerial manipulators for the inspection and maintenance of the power grid requires the safe interaction of the robot with high voltage power lines. In order to identify possible faults or malfunctions during the approaching or interaction phases, this paper presents experimental results in a real 15 kV power line, considering four different configurations for the manipulator: 1) aluminum tube attached to the landing gear, 2) robotic arm attached to the multi-rotor base, 3) shielded aerial manipulator, and 4) long reach configuration (insulated). The paper investigates the electromagnetic susceptibility of the autopilot and the electronic speed controllers to the electrostatic discharge (ESD) raised when the manipulator touches the line, causing the momentary failure of the rotors. A model of the electromagnetic effects associated to the interaction with the line is provided, comparing later the effectiveness of the two solutions for the aerial manipulator: shielding, and insulation.
- Published
- 2021
- Full Text
- View/download PDF
39. Modeling and control of a hexacopter with a passive manipulator for aerial manipulation.
- Author
-
Guo, Pin, Xu, Kun, Deng, Huichao, Liu, Haoyuan, and Ding, Xilun
- Subjects
ADAPTIVE control systems ,HELICOPTERS ,LYAPUNOV functions ,COMPUTER simulation - Abstract
In this paper, a multi-propeller aerial robot with a passive manipulator for aerial manipulation is presented. In order to deal with the collision, external disturbance, changing inertia, and underactuated characteristic during the aerial manipulation, an adaptive trajectory linearization control (ATLC) scheme is presented to stabilize the multi-propeller aerial robot during the whole process. The ATLC controller is developed based on trajectory linearization control (TLC) method and model reference adaptive control (MRAC) method. The stability of the proposed system is analyzed by common Lyapunov function. Numerical simulations are carried out to compare the ATLC with TLC controller facing collision, external disturbance and changing inertia during an aerial manipulation. Experimental results prove that the developed robot can achieve aerial manipulation in the outdoor environment. [ABSTRACT FROM AUTHOR]
- Published
- 2021
- Full Text
- View/download PDF
40. Compliant Bimanual Aerial Manipulation: Standard and Long Reach Configurations
- Author
-
Alejandro Suarez, Fran Real, Victor M. Vega, Guillermo Heredia, Angel Rodriguez-Castano, and Anibal Ollero
- Subjects
Aerial manipulation ,compliance ,long reach ,force control ,Electrical engineering. Electronics. Nuclear engineering ,TK1-9971 - Abstract
The ability of aerial manipulation robots to reach and operate in high altitude workspaces may result of interest in a wide variety of applications and scenarios that nowadays cannot be accessed easily by human operators. Consider for example the installation of sensors in polluted areas, the insulation of leaks in pipe structures, or the corrosion repair in power lines and wind turbines. This paper describes the application of a human-like dual arm aerial manipulator for the inspection of pipe structures, typical of chemical plants, involving the installation and retrieval of sensor devices. The goal is to reduce the time, cost, and risk with respect to conventional solutions conducted by human workers. Two configurations of the aerial robot are considered and compared: the standard, in which the arms are installed at the base of the multirotor, and the long reach configuration in passive pendulum, which extends the effective workspace of the manipulator and increases safety during the operation on flight. The kinematic and dynamic models of both configurations are derived, proposing a unified notation for the equations of motion, and a force/position control scheme that relies on the servo controller and the mechanical joint compliance. The paper also describes a simulation framework used for validating the execution of the aerial manipulation task before the realization of the real experiments, which contributes to reducing the probability of failure. The potential application of the standard and long reach configurations is evaluated in two sensor installation tasks carried out in an indoor testbed.
- Published
- 2020
- Full Text
- View/download PDF
41. Modeling and Control of Aerial Continuum Manipulation Systems: A Flying Continuum Robot Paradigm
- Author
-
Zahra Samadikhoshkho, Shahab Ghorbani, and Farrokh Janabi-Sharifi
- Subjects
Aerial manipulation ,continuum robot ,tendon-driven ,Cosserat rod theory ,adaptive sliding mode control ,Electrical engineering. Electronics. Nuclear engineering ,TK1-9971 - Abstract
In this paper, a novel aerial manipulation paradigm, namely an aerial continuum manipulation system (ACMS) is introduced. The proposed system is distinct from the conventional aerial manipulation systems (AMSs) in the sense that instead of conventional rigid-link arms a continuum robotic arm is used. Such an integration will enable the benefits of continuum arms especially in cluttered and less structured environments. Despite promising advantages, modeling and control of ACMS involve several challenges. The paper presents decoupled dynamic modeling of ACMS arm using the modified Cosserat rod theory. To deal with the problem of complexity and high level of modeling uncertainties, a robust adaptive control approach is proposed for the position control of ACMS and its stability is proven using Lyapunov stability theorem. Finally, the effectiveness of the proposed scheme is validated in a simulated environment.
- Published
- 2020
- Full Text
- View/download PDF
42. Aerial Manipulator With Rolling Base for Inspection of Pipe Arrays
- Author
-
Alejandro Suarez, Alvaro Caballero, Ambar Garofano, Pedro J. Sanchez-Cuevas, Guillermo Heredia, and Anibal Ollero
- Subjects
Aerial manipulation ,inspection and maintenance ,rolling platform ,path planning ,Electrical engineering. Electronics. Nuclear engineering ,TK1-9971 - Abstract
This paper considers the inspection by contact of long arrays of pipe structures in hard-to-reach places, typical of chemical plants or oil and gas industries, presenting the design of a hybrid rolling-aerial platform capable of landing and moving along the pipes without wasting energy in the propellers during the inspection. The presented robot overcomes the limitation in terms of operation time and positioning accuracy in the application of flying robots to industrial inspection and maintenance tasks. The robot consists of a hexa-rotor platform integrating a rolling base with velocity and direction control, and a 5-DOF (degree of freedom) robotic arm supported by a 1-DOF linear guide system that facilitates the deployment of the arm in the array of pipes to inspect their contour once the platform has landed. Given a set of points to be inspected in different arrays of pipes, the path of the multirotor and the rolling platform is planned with a hybrid RRT* (Rapidly-exploring Random Tree) based algorithm that minimizes the energy consumption. The performance of the system is evaluated in an illustrative outdoor scenario with two arrays of pipes, using a laser tracking system to measure the position of the robot from the ground control station.
- Published
- 2020
- Full Text
- View/download PDF
43. Adaptive Nonsingular Fast Terminal Sliding Mode Control of Aerial Manipulation Based on Nonlinear Disturbance Observer
- Author
-
Weihong Xu, Lijia Cao, Baoyu Peng, Lin Wang, Chuang Gen, and Yanju Liu
- Subjects
aerial manipulation ,adaptive control ,nonsingular terminal sliding mode control ,nonlinear disturbance observer ,Motor vehicles. Aeronautics. Astronautics ,TL1-4050 - Abstract
Aimed at resolving the trajectory tracking control problem of aerial manipulation, this paper presents an aerial manipulation system that consists of a quadrotor unmanned aerial vehicle (UAV) and a two-degree-of-freedom manipulator. The system adopted an integrated control strategy; that is, the rotor UAV and the manipulator were considered as a whole, the coupling effect was treated as an internal factor, and the whole was taken as the research object to establish a dynamic model. Then, by combining the nonsingular fast terminal sliding mode controller with the adaptive controller, an adaptive nonsingular fast terminal sliding mode controller was designed. A composite control rate based on the nonlinear disturbance observer and the adaptive nonsingular fast terminal sliding mode was determined in order to compensate for the external disturbance and the internal modeling error of the system as well as to ensure its rapid convergence. Finally, the different control methods were simulated by setting the operational tasks. The simulation results show that the proposed control method is effective.
- Published
- 2023
- Full Text
- View/download PDF
44. Decoupled Cascaded PID Control of an Aerial Manipulation System
- Author
-
Ali Emre Turgut, Kutluk Bilge Arikan, and Nebi Bulut
- Subjects
aerial manipulation ,robotics ,quadrotor ,pid control ,Engineering (General). Civil engineering (General) ,TA1-2040 - Abstract
T his paper presents the control of an aerial manipulation system with a quadrotor and a 2-DOF robotic arm. Firstly, the kinematic model of the combined system and the Denavit-Hartenberg parameters of the serial robotic arm are obtained. Then, to derive the dynamics of the system, the quadrotor and the 2-DOF robotic arm are modeled as a combined system. The Lagrange-d'Alembert formulation is used to obtain the equation of motion of the combined system. Later, decoupled controllers are developed for the generalized coordinates. Decoupled cascaded PID controllers are designed for trajectory tracking of the combined system. Proposed control algorithms are implemented in the MATLAB/Simulink environment and tested using the highly nonlinear system model in simulation. The robustness of the controllers is checked by applying disturbance forces from different directions at the tip point of the 2-DOF robotic arm. The proposed control algorithms performed satisfactorily and showed very low absolute errors
- Published
- 2019
- Full Text
- View/download PDF
45. Practically Robust Fixed-Time Convergent Sliding Mode Control for Underactuated Aerial Flexible JointRobots Manipulators
- Author
-
Kamal Rsetam, Zhenwei Cao, Lulu Wang, Mohammad Al-Rawi, and Zhihong Man
- Subjects
underactuation ,flexible joint robot (FJR) ,drones ,aerial manipulation ,cascaded fixed-time sliding mode observer (CFxTSMO) ,fixed-time sliding mode control (FxTSMO) ,Motor vehicles. Aeronautics. Astronautics ,TL1-4050 - Abstract
The control of an aerial flexible joint robot (FJR) manipulator system with underactuation is a difficult task due to unavoidable factors, including, coupling, underactuation, nonlinearities, unmodeled uncertainties, and unpredictable external disturbances. To mitigate those issues, a new robust fixed-time sliding mode control (FxTSMC) is proposed by using a fixed-time sliding mode observer (FxTSMO) for the trajectory tracking problem of the FJR attached to the drones system. First, the underactuated FJR is comprehensively modeled and converted to a canonical model by employing two state transformations for ease of the control design. Then, based on the availability of the measured states, a cascaded FxTSMO (CFxTSMO) is constructed to estimate the unmeasurable variables and lumped disturbances simultaneously in fixed-time, and to effectively reduce the estimation noise. Finally, the FxTSMC scheme for a high-order underactuated FJR system is designed to guarantee that the system tracking error approaches to zero within a fixed-time that is independent of the initial conditions. The fixed-time stability of the closed-loop system of the FJR dynamics is mathematically proven by the Lyapunov theorem. Simulation investigations and hardware tests are performed to demonstrate the efficiency of the proposed controller scheme. Furthermore, the control technique developed in this research could be implemented to the various underactuated mechanical systems (UMSs), like drones, in a promising way.
- Published
- 2022
- Full Text
- View/download PDF
46. Lightweight Multipurpose Three-Arm Aerial Manipulator Systems for UAV Adaptive Leveling after Landing and Overhead Docking
- Author
-
Hannibal Paul, Ricardo Rosales Martinez, Robert Ladig, and Kazuhiro Shimonomura
- Subjects
unmanned aerial vehicles (UAVs) ,aerial manipulation ,manipulator design ,multi-purpose manipulator ,landing gear ,docking ,Motor vehicles. Aeronautics. Astronautics ,TL1-4050 - Abstract
In aerial manipulation, the position and size of a manipulator attached to an aerial robot defines its workspace relative to the robot. However, the working region of a multipurpose robot is determined by its task and is not always predictable prior to deployment. In this paper, the development of a multipurpose manipulator design for a three-armed UAV with a large workspace around its airframe is proposed. The manipulator is designed to be lightweight and slim in order to not disrupt the UAV during in-flight manipulator movements. In the experiments, we demonstrate various advanced and critical tasks required of an aerial robot when deployed in a remote environment, focusing on the landing and docking tasks, which is accomplished using a single manipulator system.
- Published
- 2022
- Full Text
- View/download PDF
47. Zero Reaction Torque Trajectory Tracking of an Aerial Manipulator through Extended Generalized Jacobian
- Author
-
Alberto Pasetto, Yash Vyas, and Silvio Cocuzza
- Subjects
aerial manipulation ,UAV ,kinematic control ,redundancy ,generalized Jacobian ,Technology ,Engineering (General). Civil engineering (General) ,TA1-2040 ,Biology (General) ,QH301-705.5 ,Physics ,QC1-999 ,Chemistry ,QD1-999 - Abstract
Aerial manipulators are used in industrial and service robotics tasks such as assembly, inspection, and maintenance. One of the main challenges in aerial manipulation is related to the motion of the UAV base caused by manipulator disturbance torques and forces, which jeopardize the precision of the robot manipulator. In this paper, we propose two novel inverse kinematic control methods used to track a trajectory with an aerial manipulator while also considering resultant UAV base motions. The first method is adapted from the generalized Jacobian formulation used in space robotics and includes the change in system momentum resulting from gravity and UAV control forces in the inverse kinematic control equation. This approach is simulated for a 2 and 3 degree-of-freedom aerial manipulator tracking trajectories with the end-effector. Although the end-effector position error is approximately zero throughout the simulated task, we see significant undesired UAV base motions of several centimeters in magnitude. To ameliorate this by exploiting the kinematic redundancy, we modify the generalized Jacobian by adding an additional task constraint which minimizes the reaction torques from the manipulator, to form the extended generalized Jacobian. While the second approach results in improved precision and reduced base motion by an order of magnitude as compared to the generalized Jacobian, a drawback is the reduction in the available workspace as the solution seeks to minimize the manipulator center of gravity translation. We also demonstrate and compare both approaches in a load picking task. All the algorithms are completed computationally faster than real time in the MATLAB simulations, illustrating their potential for application in real-world experiments.
- Published
- 2022
- Full Text
- View/download PDF
48. Autonomous Removing Foreign Objects for Power Transmission Line by Using a Vision-Guided Unmanned Aerial Manipulator.
- Author
-
Li, Ling, Zhang, Tianlin, Zhong, Hang, Li, Hongwen, Zhang, Hui, Fan, Shaosheng, and Cao, Yijia
- Abstract
This paper considers a problem that visual servo control for an aerial manipulator removes foreign objects of power transmission lines. A position-based visual servoing (PBVS) combing a foreign objects locating method based on the point cloud with a hierarchical task-priority control method is employed to drive the aerial manipulator to remove the foreign object. Firstly, the RGB-D camera mounted on the drone obtains the point cloud of the environment, and the foreign object will be localized by the detection and localization algorithm. Then, a new visual servo error is proposed to decouple linear speed and angular speed, allowing the aerial manipulator to grasp accurately in the dangerous environment. In addition, the redundant characteristics of the aerial manipulator will be fully used by the hierarchical task priority control scheme. Finally, experimental results of a drone equipped with a 4-DOF delta manipulator removing foreign objects of power transmission line are provided to demonstrate the effectiveness of the control method. [ABSTRACT FROM AUTHOR]
- Published
- 2021
- Full Text
- View/download PDF
49. Coupled Dynamic Modeling and Control of Aerial Continuum Manipulation Systems.
- Author
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Samadikhoshkho, Zahra, Ghorbani, Shahab, and Janabi-Sharifi, Farrokh
- Subjects
DYNAMIC models ,SLIDING mode control ,TENDONS (Prestressed concrete) ,SYSTEM safety - Abstract
Aerial continuum manipulation systems (ACMSs) were newly introduced by integrating a continuum robot (CR) into an aerial vehicle to address a few issues of conventional aerial manipulation systems such as safety, dexterity, flexibility and compatibility with objects. Despite the earlier work on decoupled dynamic modeling of ACMSs, their coupled dynamic modeling still remains intact. Nonlinearity and complexity of CR modeling make it difficult to design a coupled ACMS model suitable for practical applications. This paper presents a coupled dynamic modeling for ACMSs based on the Euler–Lagrange formulation to deal with CR and the aerial vehicle as a unified system. For this purpose, a general vertical take-off and landing vehicle equipped with a tendon-driven continuum arm is considered to increase the dexterity and compliance of interactions with the environment. The presented model is independent of the motor's configuration and tilt angles and can be applied to model any under/fully actuated ACMS. The modeling approach is complemented with a Lyapunov-wise stable adaptive sliding mode control technique to demonstrate the validity of the proposed method for such a complex system. Simulation results in free flight motion scenarios are reported to verify the effectiveness of the proposed modeling and control techniques. [ABSTRACT FROM AUTHOR]
- Published
- 2021
- Full Text
- View/download PDF
50. Aerial Tele-Manipulation with Passive Tool via Parallel Position/Force Control †.
- Author
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Mohammadi, Mostafa, Bicego, Davide, Franchi, Antonio, Barcelli, Davide, and Prattichizzo, Domenico
- Subjects
REMOTE control ,HAPTIC devices ,COMPLIANT platforms ,SITUATIONAL awareness ,DEGREES of freedom ,SYSTEM dynamics - Abstract
This paper addresses the problem of unilateral contact interaction by an under-actuated quadrotor UAV equipped with a passive tool in a bilateral teleoperation scheme. To solve the challenging control problem of force regulation in contact interaction while maintaining flight stability and keeping the contact, we use a parallel position/force control method, commensurate to the system dynamics and constraints in which using the compliant structure of the end-effector the rotational degrees of freedom are also utilized to attain a broader range of feasible forces. In a bilateral teleoperation framework, the proposed control method regulates the aerial manipulator position in free flight and the applied force in contact interaction. On the master side, the human operator is provided with force haptic feedback to enhance his/her situational awareness. The validity of the theory and efficacy of the solution are shown by experimental results. This control architecture, integrated with a suitable perception/localization pipeline, could be used to perform outdoor aerial teleoperation tasks in hazardous and/or remote sites of interest. [ABSTRACT FROM AUTHOR]
- Published
- 2021
- Full Text
- View/download PDF
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