Aerial manipulation using a quadrotor with a two DOF robotic arm
01 Nov 2013-pp 4990-4995
TL;DR: Overall result shows that the proposed approach demonstrates satisfactory performance as a potential platform which can be utilized in various applications such as inspection, manipulation, or transportation in remote places.
Abstract: This paper presents aerial manipulation using a quadrotor with a two-DOF robot arm. By considering a quadrotor and robot arm as a combined system, the kinematic and dynamic models are developed, and an adaptive sliding mode controller is designed. With the controller, an autonomous flight experiment is conducted including picking up and delivering an object, which requires accurate control of a quadrotor and robot arm. Overall result shows that the proposed approach demonstrates satisfactory performance as a potential platform which can be utilized in various applications such as inspection, manipulation, or transportation in remote places.
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21 Feb 2018
TL;DR: This letter tries to collect the results reached by the research community so far within the field of aerial manipulation, especially from the technological and control point of view.
Abstract: Aerial manipulation aims at combining the versatility and the agility of some aerial platforms with the manipulation capabilities of robotic arms. This letter tries to collect the results reached by the research community so far within the field of aerial manipulation, especially from the technological and control point of view. A brief literature review of general aerial robotics and space manipulation is carried out as well.
339 citations
Cites background from "Aerial manipulation using a quadrot..."
...(1) A first distinction can be performed on the number of DoFs of the employed arm: 1 DoF [75], 2 DoFs [76] or more [72], [74]....
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...(4) Finally, a distinction can be made on the basis of the resulting configuration: for instance, a Delta-like structure is employed in [81], a parallel manipulator is considered in [82], a hyper-redundant 9 DoFs robot arm is designed in [83], while a redundant 7 DoFs fully actuated anthropomorphic robot arm like the KUKA LWR is employed in [84]....
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...controller is instead introduced in [76]....
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...A UAM composed of a helicopter and a fully actuated redundant robot arm (a Kuka LWR with 7 DoFs) does not show coupling effects when the center of gravity of the arm is moved in the lateral plane of the helicopter: forcing the movement of the arm in that direction, thanks to its intrinsic redundancy, exhibits a coupling between the UAV and the manipulator only at a kinematic level [84]....
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26 May 2015
TL;DR: A multilayer architecture to control multirotor UAVs equipped with a servo robot arm is proposed in this paper to control the aerial platform taking into account the presence of the moving manipulator.
Abstract: A multilayer architecture to control multirotor UAVs equipped with a servo robot arm is proposed in this paper. The main purpose is to control the aerial platform taking into account the presence of the moving manipulator. Three layers are considered in this work. First, a novel mechanism is proposed considering a moving battery to counterweight the statics of the robotic arm. Then, in order to overcome the mechanical limitations of the previous layer, the residual of the arm static effects on the UAV is computed and compensated through the given control thrust and torques. Finally, an estimator of external forces and moments acting on the aerial vehicle is considered and the estimations are fed back to the controller to compensate neglected aerodynamic effects and the arm dynamics. The performance of the proposed architecture has been experimentally evaluated.
137 citations
06 Nov 2014
TL;DR: A framework for valve turning using an aerial vehicle endowed with dual multi-degree of freedom manipulators and recent results validating the valve turning framework using the proposed aircraft-arm system during flight tests are presented.
Abstract: We propose a framework for valve turning using an aerial vehicle endowed with dual multi-degree of freedom manipulators. A tightly integrated control scheme between the aircraft and manipulators is mandated for tasks requiring aircraft to environmental coupling. Feature detection is well- established for both ground and aerial vehicles and facilitates valve detection and arm tracking. Force feedback upon contact with the environment provides compliant motions in the pres- ence of position error and coupling with the valve. We present recent results validating the valve turning framework using the proposed aircraft-arm system during flight tests. I. INTRODUCTION Valve turning represents a classic controls problem along with insertion tasks and tool usage. The ground robotics community has largely solved these problems. There are many examples of door opening, using a drill, assembly of structures, and inserting a power plug by ground vehicles with one or more dexterous arms. Many of these tasks require position and/or force control and typical implementations in- volve force/torque sensing, vision systems, or a combination of these methods. The ground-based system must coordinate the vehicle and arm motions to perform these tasks. While the coupling between the environment (i.e. valve, knob, handle) and robot does influence the vehicle base with added contact forces/torques and friction, the base can typically maintain stability during the entire motion. However, the strong coupling required during valve or knob turning greatly influences the dynamics of an aerial manipulator. Rigidity in the manipulator and the propagation of contact forces when interacting with the environment can cause crashes. There have been recent results where multi-DOF aerial manipulators have experienced coupling with the environment (1)-(4). Other groups have investigated compliance in assembly tasks (5)-(7), or dynamic stability and control w.r.t. center of mass and moment of inertia variations (8)-(10).
128 citations
Cites background from "Aerial manipulation using a quadrot..."
...There have been recent results where multi-DOF aerial manipulators have experienced coupling with the environment [1]–[4]....
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TL;DR: In this article, a vision guidance approach using an image-based visual servo (IBVS) for an aerial manipulator combining a multirotor with a multidegree of freedom robotic arm is presented.
Abstract: This paper presents a vision guidance approach using an image-based visual servo (IBVS) for an aerial manipulator combining a multirotor with a multidegree of freedom robotic arm. To take into account the dynamic characteristics of the combined manipulation platform, the kinematic and dynamic models of the combined system are derived. Based on the combined model, a passivity-based adaptive controller which can be applied on both position and velocity control is designed. The position control is utilized for waypoint tracking such as taking off and landing, and the velocity control is engaged when the platform is guided by visual information. In addition, a guidance law utilizing IBVS is employed with modifications. To secure the view of an object with an eye-in-hand camera, IBVS is utilized with images taken from a fisheye camera. Also, to compensate underactuation of the multirotor, an image adjustment method is developed. With the proposed control and guidance laws, autonomous flight experiments involving grabbing and transporting an object are carried out. Successful experimental results demonstrate that the proposed approaches can be applied in various types of manipulation missions.
128 citations
Cites methods from "Aerial manipulation using a quadrot..."
...In this study, the dynamic model considering a multirotor and a three-DOF robotic arm as a unified system is derived, as an extension from [18]....
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TL;DR: This survey highlights meaningful research works of several groups worldwide, considering two basic approaches to load transportation, namely grasped and cable-suspended load transportation.
Abstract: Load transportation by quadrotors and similar aircrafts is a topic of great interest to the robotics community nowadays, most likely due to logistic gains for deliveries of commercial cargo. Aiming at being the first reading for novice researchers and graduate students, this survey highlights meaningful research works of several groups worldwide, considering two basic approaches, namely grasped and cable-suspended load transportation. Different control techniques and maneuver strategies are analyzed, and their benefits and drawbacks are discussed. Moreover, experimental validation was a key aspect to the highlighted works, thus, links to the videos showing the experimental results are provided for each work.
118 citations
References
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Book•
22 Mar 1994
TL;DR: In this paper, the authors present a detailed overview of the history of multifingered hands and dextrous manipulation, and present a mathematical model for steerable and non-driveable hands.
Abstract: INTRODUCTION: Brief History. Multifingered Hands and Dextrous Manipulation. Outline of the Book. Bibliography. RIGID BODY MOTION: Rigid Body Transformations. Rotational Motion in R3. Rigid Motion in R3. Velocity of a Rigid Body. Wrenches and Reciprocal Screws. MANIPULATOR KINEMATICS: Introduction. Forward Kinematics. Inverse Kinematics. The Manipulator Jacobian. Redundant and Parallel Manipulators. ROBOT DYNAMICS AND CONTROL: Introduction. Lagrange's Equations. Dynamics of Open-Chain Manipulators. Lyapunov Stability Theory. Position Control and Trajectory Tracking. Control of Constrained Manipulators. MULTIFINGERED HAND KINEMATICS: Introduction to Grasping. Grasp Statics. Force-Closure. Grasp Planning. Grasp Constraints. Rolling Contact Kinematics. HAND DYNAMICS AND CONTROL: Lagrange's Equations with Constraints. Robot Hand Dynamics. Redundant and Nonmanipulable Robot Systems. Kinematics and Statics of Tendon Actuation. Control of Robot Hands. NONHOLONOMIC BEHAVIOR IN ROBOTIC SYSTEMS: Introduction. Controllability and Frobenius' Theorem. Examples of Nonholonomic Systems. Structure of Nonholonomic Systems. NONHOLONOMIC MOTION PLANNING: Introduction. Steering Model Control Systems Using Sinusoids. General Methods for Steering. Dynamic Finger Repositioning. FUTURE PROSPECTS: Robots in Hazardous Environments. Medical Applications for Multifingered Hands. Robots on a Small Scale: Microrobotics. APPENDICES: Lie Groups and Robot Kinematics. A Mathematica Package for Screw Calculus. Bibliography. Index Each chapter also includes a Summary, Bibliography, and Exercises
6,592 citations
TL;DR: This paper develops robot configurations that ensure static equilibrium of the payload at a desired pose while respecting constraints on the tension and provides analysis of payload stability for these configurations.
Abstract: In this paper we consider the problem of controlling multiple robots manipulating and transporting a payload in three dimensions via cables. We develop robot configurations that ensure static equilibrium of the payload at a desired pose while respecting constraints on the tension and provide analysis of payload stability for these configurations. We demonstrate our methods on a team of aerial robots via simulation and experimentation.
624 citations
01 Jan 2013
TL;DR: This paper proposes individual robot control laws defined with respect to the payload that stabilize the payload along three-dimensional trajectories and detail the design of a gripping mechanism attached to each quadrotor that permits autonomous grasping of the payload.
Abstract: In this paper, we consider the problem of controlling multiple quadrotor robots that cooperatively grasp and transport a payload in three dimensions.We model the quadrotors both individually and as a group rigidly attached to a payload. We propose individual robot control laws defined with respect to the payload that stabilize the payload along three-dimensional trajectories. We detail the design of a gripping mechanism attached to each quadrotor that permits autonomous grasping of the payload. An experimental study with teams of quadrotors cooperatively grasping, stabilizing, and transporting payloads along desired three-dimensional trajectories is presented with performance analysis over many trials for different payload configurations.
487 citations
TL;DR: Outdoor field experiments of transportation and accurate deployment of loads with single/multiple autonomous aerial vehicles are presented, a novel feature that opens the possibility to use aerial robots to assist victims during rescue phase operations.
Abstract: It is generally accepted that systems composed of multiple aerial robots with autonomous cooperation capabilities can assist responders in many search and rescue (SAR) scenarios. In most of the previous research work, the aerial robots are mainly considered as platforms for environmental sensing and have not been used to assist victims. In this paper, outdoor field experiments of transportation and accurate deployment of loads with single/multiple autonomous aerial vehicles are presented. This is a novel feature that opens the possibility to use aerial robots to assist victims during rescue phase operations. Accuracy in the deployment location is a critical issue in SAR scenarios in which injured people may have very limited mobility. The presented system is composed of up to three small-size helicopters and features cooperative sensing, using several different sensor types. The system supports several forms of cooperative actuation as well, ranging from the cooperative deployment of small sensors/objects to the coupled transportation of slung loads. The complete system is described, outlining the hardware and software framework used, as well as the approaches for modeling and control used. Additionally, the results of several flight field experiments are presented, including a description of the worldwide first successful autonomous load transportation experiment, using three coupled small-size helicopters (conducted in December 2007). During these experiments strong, steady winds and wind gusts were present. Various solutions and lessons learned from the design and operation of the system are also provided. © 2011 Wiley Periodicals, Inc.
348 citations
09 May 2011
TL;DR: This paper analyzes key challenges encountered when lifting a grasped object and transitioning into laden free-flight, and demonstrates that dynamic load disturbances introduced by the load mass will be rejected by a helicopter with PID flight control.
Abstract: This paper reports recent research efforts to advance the functionality of Unmanned Aerial Vehicles (UAVs) beyond passive observation to active interaction with and manipulation of objects. The archetypical aerial manipulation task — grasping objects during flight — is difficult due to the unstable dynamics of rotorcraft and coupled object-aircraft motion. In this paper, we analyze key challenges encountered when lifting a grasped object and transitioning into laden free-flight. We demonstrate that dynamic load disturbances introduced by the load mass will be rejected by a helicopter with PID flight control. We determine stability bounds in which the changing mass-inertia parameters of the system due to the grasped object will not destabilize this flight controller. The conditions under which transient partial contact mechanics of objects resting on a surface will not induce instability are identified. We demonstrate grasping and retrieval of a variety of objects while hovering, without touching the ground, using the Yale Aerial Manipulator testbed.
299 citations