This article summarizes new aerial robotic manipulation technologies and methods-aerial robotic manipulators with dual arms and multidirectional thrusters-developed in the AEROARMS project for outdoor industrial inspection and maintenance (IaM).

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The AEROARMS Project: Aerial Robots with Advanced Manipulation Capabilities for Inspection and Maintenance

Aerial manipulation—A literature survey

A novel proportional-integral-derivative (PID)-type motion controller for a quadrotor is introduced in this paper A rigorous analysis of the closed-loop system trajectories is provided, and gain tuning guidelines are discussed Real-time experimental results consisting of the implementation of a PID-based scheme, a sliding-mode controller, and the new scheme are given Gains are selected so that the three tested controllers present the same energy consumption In order to assess the robustness of the controllers tested, experiments are carried out in the presence of disturbances in one of the actuators Specifically, the disturbance consists in attenuating the force delivered Better tracking accuracy is obtained with the introduced nonlinear PID-type algorithm

Nonlinear PID-Type Controller for Quadrotor Trajectory Tracking

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Geometric Design Of Linkages

A new class of reconfigurable parallel kinematic machines

This paper addresses the problem of autonomous servoing an unmanned redundant aerial manipulator using computer vision. The overactuation of the system is exploited by means of a hierarchical control law, which allows to prioritize several tasks during flight. We propose a safety-related primary task to avoid possible collisions. As a secondary task, we present an uncalibrated image-based visual servo strategy to drive the arm end-effector to a desired position and orientation by using a camera attached to it. In contrast to the previous visual servo approaches, a known value of camera focal length is not strictly required. To further improve flight behavior, we hierarchically add one task to reduce dynamic effects by vertically aligning the arm center of gravity to the multirotor gravitational vector, and another one that keeps the arm close to a desired configuration of high manipulability and avoiding arm joint limits. The performance of the hierarchical control law, with and without activation of each of the tasks, is shown in simulations and in real experiments confirming the viability of such prioritized control scheme for aerial manipulation.

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Uncalibrated Visual Servo for Unmanned Aerial Manipulation

This paper introduces a class of reconfigurable parallel robots consisting of a fixed base and a moving platform connected by serial chains having RRPS (Revolute-Revolute-Prismatic-Spherical) topology. Only the prismatic joint is actuated and the first revolute joint in the chain can be locked or released online. The introduction of these lockable joints allow the prismatic actuators to maneuver to approximate 6-DoF motions for the moving platform. An algorithm for generating these maneuvers is first described. Then, a motion planner, based on the generation of a Probabilistic RoadMap (PRM) whose nodes are connected using the described maneuvers, is presented. The generated trajectories avoid singularities and possible collisions between legs. (See accompanying video)

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Motion planning for a novel reconfigurable parallel manipulator with lockable revolute joints

This paper shows how to generate under-actuated manipulators by substituting nonholonomic spherical pairs (nS pairs) for (holonomic) spherical pairs (S pairs) in ordinary (i.e. not under-actuated) manipulators. As a case study, an under-actuated manipulator, previously proposed by one of the authors, is demonstrated to be generated, through this pair substitution, from an inversion of the 6-3 fully-parallel manipulator (FPM). Moreover, the kinetostatic analysis of this under-actuated manipulator is reconsidered, and a simple and compact formulation is obtained. The results of this kinetostatic analysis can be used both in the design of the under-actuated manipulator, and in its control.
Keywords: kinetostatics, non-holonomic constraint, ordinary manipulator, underactuated manipulator, parallel manipulator.

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Generation of Under-Actuated Manipulators With Nonholonomic Joints From Ordinary Manipulators

Current geometric path planners for nonholonomic parallel orienting robots generate maneuvers consisting of a sequence of moves connected by zero-velocity points. The need for these maneuvers restrains the use of this kind of parallel robots to few applications. Based on a rather old result on linear time-varying systems, this letter shows that there are infinitely differentiable paths connecting two arbitrary points in $\textit{SO}(3)$ such that the instantaneous axis of rotation along the path rest on a fixed plane. This theoretical result leads to a practical path planner for nonholonomic parallel orienting robots that generates single-move maneuvers. To present this result, we start with a path planner based on three-move maneuvers, and then we proceed by progressively reducing the number of moves to one, thus providing a unified treatment with respect to previous geometric path planners.

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Geometric Path Planning Without Maneuvers for Nonholonomic Parallel Orienting Robots

Parallel robots with three UPU legs have received a lot of attention due to the possibility of assembling these legs so that the robot performs either a pure translational or a pure rotational motion Nevertheless, some arrangements, despite their theoretical interest, are of doubtful practical utility due to their sensitivity to errors and the presence in their workspaces of mixed-modes that involve both translations and rotations The introduction of some sort of asymmetry has been revealed of relevance to come up with more robust designs In this context, we present an asymmetric 3-UPU robot, that can be reconfigured to work either as a translational or as a rotational robot by simply flipping upside down its moving platform

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Patrick Grosch

Papers

Uncalibrated Visual Servo for Unmanned Aerial Manipulation

Motion planning for a novel reconfigurable parallel manipulator with lockable revolute joints

Generation of Under-Actuated Manipulators With Nonholonomic Joints From Ordinary Manipulators

Geometric Path Planning Without Maneuvers for Nonholonomic Parallel Orienting Robots

A Reconfigurable Asymmetric 3-UPU Parallel Robot