Control of a multirotor outdoor aerial manipulator
06 Nov 2014-pp 3417-3422
TL;DR: A stable backstepping-based controllers for the multirotor that uses the coupled full dynamic model is proposed, and an admittance controller for the manipulator arm is outlined.
Abstract: This paper presents the design and control of a multirotor-based aerial manipulator developed for outdoor operation. The multi-rotor has eight rotors and large payload to integrate a 7-degrees of freedom arm and to carry sensors and processing hardware needed for outdoor positioning. The arm can also carry an end-effector and sensors to perform different missions. The paper focuses on the control design and implementation aspects. A stable backstepping-based controller for the multirotor that uses the coupled full dynamic model is proposed, and an admittance controller for the manipulator arm is outlined. Several experimental tests with the aerial manipulator are also presented. In one of the experiments, the performance of the pitch attitude controller is compared to a PID controller. Other experiments of the arm controller following an object with the camera are also presented.
Citations
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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 or methods from "Control of a multirotor outdoor aer..."
...(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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...A backstepping-based controller for the UAM that uses the coupled full dynamic model is addressed in [74], while an admittance controller for the ma-...
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...More details about this UAM can be found in [74]....
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TL;DR: 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 (I&M).
Abstract: 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).
167 citations
Cites methods from "Control of a multirotor outdoor aer..."
...The first one is based on modeling the aerial manipulator as an unique system and designing the control scheme on the complete kinematic and dynamic models, see for instance [17] where an integral backstepping controller has been implemented....
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TL;DR: This review concentrates on three main challenges of controlling a quadrotor unmanned aerial vehicle (UAV) as an underactuated mechanical system (UMS) and discusses the solutions mostly concerning the application of different control strategies presented in recent literature.
120 citations
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
TL;DR: A review of recent developments in position control and attitude control of multi-rotor aerial robots systems is presented, and links to the most interesting and most successful works from the state-of-the-art are provided.
118 citations
References
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Proceedings Article•
01 Jan 2009TL;DR: This paper discusses how ROS relates to existing robot software frameworks, and briefly overview some of the available application software which uses ROS.
Abstract: This paper gives an overview of ROS, an opensource robot operating system. ROS is not an operating system in the traditional sense of process management and scheduling; rather, it provides a structured communications layer above the host operating systems of a heterogenous compute cluster. In this paper, we discuss how ROS relates to existing robot software frameworks, and briefly overview some of the available application software which uses ROS.
8,387 citations
05 Dec 2011
TL;DR: This paper presents the design of several light-weight, low-complexity grippers that allow quadrotors to grasp and perch on branches or beams and pick up and transport payloads and shows the robot's ability to estimate the mass, the location of the center of mass and the moments of inertia to improve tracking performance.
Abstract: This paper addresses mechanics, design, estimation and control for aerial grasping. We present the design of several light-weight, low-complexity grippers that allow quadrotors to grasp and perch on branches or beams and pick up and transport payloads. We then show how the robot can use rigid body dynamic models and sensing to verify a grasp, to estimate the the inertial parameters of the grasped object, and to adapt the controller and improve performance during flight. We present experimental results with different grippers and different payloads and show the robot's ability to estimate the mass, the location of the center of mass and the moments of inertia to improve tracking performance.
398 citations
"Control of a multirotor outdoor aer..." refers background in this paper
...E-mail: guiller@us.es. modification of the aerial mass distribution and dynamics by grasping and manipulating objects....
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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
Additional excerpts
...Several experimental tests with the aerial manipulator are also presented....
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28 Jun 2000
TL;DR: In this paper, a tracking controller for a class of underactuated mechanical systems, based on a backstepping procedure, is presented. But this controller operates directly in the configuration manifold of the vehicle.
Abstract: In this paper we present a tracking controller for a class of underactuated mechanical systems, based on a backstepping procedure. This class includes an approximation of small helicopter dynamics. The need to avoid artificial singularities due to the attitude representation is the main driver behind the control design presented in this paper: to achieve this goal, we will operate directly in the configuration manifold of the vehicle. The control design provides asymptotic tracking for an approximate model of small helicopters, and bounded tracking when more complete models are considered. Simulation examples, including both point stabilization and aggressive maneuver tracking, are presented and discussed.
283 citations
"Control of a multirotor outdoor aer..." refers background in this paper
...In [19] the authors presented a Variable Parameter Integral Basckstepping (VPIB) controller for a quadrotor with a manipulator, which took into account the first two points (variation of center of mass and moments of inertia with the movement of the arm), but did not consider the third one (dynamic…...
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TL;DR: This paper determines stability bounds within which the changing mass-inertia parameters of the system due to the acquired object will not destabilize helicopters and quadrotors under Proportional-Integral-Derivative flight control.
Abstract: The application of rotorcraft to autonomous load carrying and transport is a new frontier for Unmanned Aerial Vehicles (UAVs). This task requires that hovering vehicles remain stable and balanced in flight as payload mass is added to the vehicle. If payload is not loaded centered or the vehicle properly trimmed for offset loads, the robot will experience bias forces that must be rejected. In this paper, we explore the effect of dynamic load disturbances introduced by instantaneously increased payload mass and how those affect helicopters and quadrotors under Proportional-Integral-Derivative flight control. We determine stability bounds within which the changing mass-inertia parameters of the system due to the acquired object will not destabilize these aircraft with this standard flight controller. Additionally, we demonstrate experimentally the stability behavior of a helicopter undergoing a range of instantaneous step payload changes.
276 citations
"Control of a multirotor outdoor aer..." refers background in this paper
...For example, [11] presents stability limits within which the changing mass parameters of the system will not destabilize quadrotors and helicopters with standard PID controllers....
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