Developing an Aerial Manipulator Prototype: Physical Interaction with the Environment
TL;DR: This article focuses on the design, modeling, and control of an aerial manipulator prototype, i.e., an innovative configuration consisting of a miniature quadrotor helicopter endowed with a robotic manipulator.
Abstract: This article focuses on the design, modeling, and control of an aerial manipulator prototype, i.e., an innovative configuration consisting of a miniature quadrotor helicopter endowed with a robotic manipulator. The overall system is designed to accomplish operations that require physical interaction with the surrounding environment while remaining airborne. To investigate the dynamical model of the aerial manipulator, a simple planar benchmark is used to analyze the interactions between the quadrotor, the robotic manipulator, and the environment. A control strategy for the planar system is designed to guarantee robustness in the presence or absence of contacts. Experiments on a real setup validate the control in the two different scenarios in which the aerial manipulator is either freely flying or physically interacting with the environment.
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01 Jan 2016
TL;DR: L2 gain and passivity techniques in nonlinear control is downloaded for free to help people who are facing with some harmful virus inside their desktop computer.
Abstract: Thank you very much for downloading l2 gain and passivity techniques in nonlinear control. Maybe you have knowledge that, people have search numerous times for their chosen books like this l2 gain and passivity techniques in nonlinear control, but end up in malicious downloads. Rather than reading a good book with a cup of tea in the afternoon, instead they are facing with some harmful virus inside their desktop computer.
655 citations
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 methods from "Developing an Aerial Manipulator Pr..."
...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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16 May 2016
TL;DR: An eight-rotor configuration is derived that maximizes the vehicle's agility in any direction and possesses full force and torque authority in all three dimensions of the proposed six degrees-of-freedom aerial vehicle.
Abstract: In this paper we present the design and control of a novel six degrees-of-freedom aerial vehicle. Based on a static force and torque analysis for generic actuator configurations, we derive an eight-rotor configuration that maximizes the vehicle's agility in any direction. The proposed vehicle design possesses full force and torque authority in all three dimensions. A control strategy that allows for exploiting the vehicle's decoupled translational and rotational dynamics is introduced. A prototype of the proposed vehicle design is built using reversible motor-propeller actuators and capable of flying at any orientation. Preliminary experimental results demonstrate the feasibility of the novel design and the capabilities of the vehicle.
221 citations
Cites background from "Developing an Aerial Manipulator Pr..."
...…several groups have more recently started to investigate the use of flying machines for physical interaction with the environment; to manipulate objects (e.g. [1]–[3]), to assemble structures in locations otherwise inaccessible (e.g. [4]), or to interact with humans and augment reality (e.g. [5],…...
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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 background from "Developing an Aerial Manipulator Pr..."
...in [3] where an aerial manipulator interacts with a vertical surface, but in AEROARMS there are experiments involving complex interaction tasks such as peg-in-hole with tilted holes and sliding on tilted surfaces....
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...Most aerial manipulators [3]–[6] use standard multi-rotor platforms with all propellers oriented in the same direction....
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...In [3], a quadrotor with a small arm maintaining contact...
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TL;DR: An extensive study of aerial vehicles and manipulation/interaction mechanisms in aerial manipulation is presented and the shortcomings of current aerial manipulation research are highlighted and a number of directions for future research are suggested.
144 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
"Developing an Aerial Manipulator Pr..." refers background in this paper
...In classical robotic manipulation [24], both position and force control of the end effector are synthesized by assuming that the reaction forces and torques applied to the base as a consequence of the motion of the manipulator are perfectly rejected....
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TL;DR: It is shown that components of the manipulator impedance may be combined by superposition even when they are nonlinear, and a generalization of a Norton equivalent network is defined for a broad class of nonlinear manipulators which separates the control of motion from theControl of impedance while preserving the superposition properties of the Norton network.
Abstract: Manipulation fundamentally requires the manipulator to be mechanically coupled to the object being manipulated; the manipulator may not be treated as an isolated system. This three-part paper presents an approach to the control of dynamic interaction between a manipulator and its environment. In Part I this approach is developed by considering the mechanics of interaction between physical systems. Control of position or force alone is inadequate; control of dynamic behavior is also required. It is shown that as manipulation is a fundamentally nonlinear problem, the distinction between impedance and admittance is essential, and given the environment contains inertial objects, the manipulator must be an impedance. A generalization of a Norton equivalent network is defined for a broad class of nonlinear manipulators which separates the control of motion from the control of impedance while preserving the superposition properties of the Norton network. It is shown that components of the manipulator impedance may be combined by superposition even when they are nonlinear.
3,356 citations
06 Jun 1984
TL;DR: In this paper, a unified approach to kinematically constrained motion, dynamic interaction, target acquisition and obstacle avoidance is presented, which results in a unified control of manipulator behaviour.
Abstract: Manipulation fundamentally requires a manipulator to be mechanically coupled to the object being manipulated. A consideration of the physical constraints imposed by dynamic interaction shows that control of a vector quantity such as position or force is inadequate and that control of the manipulator impedance is also necessary. Techniques for control of manipulator behaviour are presented which result in a unified approach to kinematically constrained motion, dynamic interaction, target acquisition and obstacle avoidance.
3,292 citations
"Developing an Aerial Manipulator Pr..." refers background or methods in this paper
...Motivated by the effectiveness of the energy-based approaches [27] in applications pertaining to the physical interaction between robots and the environment [28], an impedance controller [21] is proposed to meet the two control goals simultaneously....
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...The closed-loop passive system can then be controlled as a standard robotic manipulator, implementing impedance control strategies [21], suitable to handle both contact and no-contact cases....
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...By taking advantage of the passivity properties of the closed-loop system, an impedance controller is implemented [21] to regulate either the applied forces to the environment or the final equilibrium configuration....
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TL;DR: In this article, the authors show that standard PBC is stymied by the presence of unbounded energy dissipation, hence it is applicable only to systems that are stabilizable with passive controllers.
Abstract: Energy is one of the fundamental concepts in science and engineering practice, where it is common to view dynamical systems as energy-transformation devices. This perspective is particularly useful in studying complex nonlinear systems by decomposing them into simpler subsystems that, upon interconnection, add up their energies to determine the full system's behavior. The action of a controller may also be understood in energy terms as another dynamical system. The control problem can then be recast as finding a dynamical system and an interconnection pattern such that the overall energy function takes the desired form. This energy-shaping approach is the essence of passivity-based control (PBC), a controller design technique that is very well known in mechanical systems. Our objectives in the article are threefold. First, to call attention to the fact that PBC does not rely on some particular structural properties of mechanical systems, but hinges on the more fundamental (and universal) property of energy balancing. Second, to identify the physical obstacles that hamper the use of standard PBC in applications other than mechanical systems. In particular, we show that standard PBC is stymied by the presence of unbounded energy dissipation, hence it is applicable only to systems that are stabilizable with passive controllers. Third, to revisit a PBC theory that has been developed to overcome the dissipation obstacle as well as to make the incorporation of process prior knowledge more systematic. These two important features allow us to design energy-based controllers for a wide range of physical systems.
865 citations
"Developing an Aerial Manipulator Pr..." refers methods in this paper
...This goal is achieved by considering standard passivity-based feedback design techniques [27], where the stability of a desired equilibrium point is obtained by shaping the energy function of Figure 5....
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...Motivated by the effectiveness of the energy-based approaches [27] in applications pertaining to the physical interaction between robots and the environment [28], an impedance controller [21] is proposed to meet the two control goals simultaneously....
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01 Jan 2016
TL;DR: L2 gain and passivity techniques in nonlinear control is downloaded for free to help people who are facing with some harmful virus inside their desktop computer.
Abstract: Thank you very much for downloading l2 gain and passivity techniques in nonlinear control. Maybe you have knowledge that, people have search numerous times for their chosen books like this l2 gain and passivity techniques in nonlinear control, but end up in malicious downloads. Rather than reading a good book with a cup of tea in the afternoon, instead they are facing with some harmful virus inside their desktop computer.
655 citations
"Developing an Aerial Manipulator Pr..." refers background in this paper
...The main idea is to make the position dynamics of the vehicle passive [19] by relying upon a cascade control strategy [20] in which the attitude is considered a virtual available control input....
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