A multilayer control for multirotor UAVs equipped with a servo robot arm

Ruggiero, Fabio; Trujillo, M. A.; Cano, Roger Vila; Ascorbe, H.; Viguria, Antidio; Pérez, Carlos; Lippiello, Vincenzo; Ollero, A.; Siciliano, Bruno

doi:10.1109/icra.2015.7139760

Cited by 129 publications

(97 citation statements)

References 12 publications

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“…The latter approach considers instead the UAV and the robotic arm as two separate and independent systems: the effects of the arm on the aerial vehicle are then considered as external disturbances and vice versa. This might be useful in case the dynamics of the arm is not enough to compensate the UAV position error and/or in case the arm does not allow torque control (i.e., servomotors) [20]. The here presented paper is oriented towards the latter approach: it has been thus considered the control of the single UAV subject to external disturbances and time-varying parameters.…”

Section: Related Workmentioning

confidence: 98%

Passivity-based control of VToL UAVs with a momentum-based estimator of external wrench and unmodeled dynamics

Ruggiero¹,

Cacace²,

Sadeghian

et al. 2015

Robotics and Autonomous Systems

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Section: Related Workmentioning

confidence: 98%

Passivity-based control of VToL UAVs with a momentum-based estimator of external wrench and unmodeled dynamics

Ruggiero¹,

Cacace²,

Sadeghian

et al. 2015

Robotics and Autonomous Systems

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“…Aerial Manipulators that is an Aerial Vehicle attached with a manipulator can transform an Unmanned Aerial Vehicle (UAV) from passive sensor to an active actuator by performing tasks such as object manipulation, assembly, transportation etc. The limited availability of payload on Micro Aerial Vehicle has motivated the robotic community further study the problem [1]- [3].…”

Section: Introductionmentioning

confidence: 99%

Lightweight robotic arm actuated by shape memory alloy (SMA) wires

Quintanar-Guzman

Kannan

Olivares-Méndez

et al. 2016

2016 8th International Conference on Electronics, Computers and Artificial Intelligence (ECAI)

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Abstract-The current paper discusses the design, modeling and control of a Light weight robotic arm actuated by Shape Memory Alloy (SMA) actuators, usable for applications such as Aerial Manipulator. Compared to servo motor based robotic arm the proposed design has an added advantage of light weight and high force to mass ratio, but further introduces the problem of nonlinearities such as Hysteresis into the system. A nonlinear dynamic model of the hysteretic robotic arm is systematically developed to perform closed loop simulations. A Joint Space control is performed using Variable Structure Control and the closed loop performance is successfully verified by simulation studies.

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“…In each of these scenarios, time is a critical factor and the vehicles have to be capable of executing agile maneuvers at high speed to render aerial manipulation effective. Partially or fully actuated manipulators have been used for aerial manipulation by attaching them to quadrotors [10,11,22,27]. Although this solution is suitable for fine manipulation and interaction with the environment, it has a number of drawbacks (e.g., energy consumption, size of the overall platform, additional inertia) that reduce the agility of the vehicle.…”

Section: A Motivationmentioning

confidence: 99%

Fast Trajectory Optimization for Agile Quadrotor Maneuvers with a Cable-Suspended Payload

Foehn

Falanga

Kuppuswamy³

et al. 2017

Robotics: Science and Systems XIII

113

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Abstract-Executing agile quadrotor maneuvers with cablesuspended payloads is a challenging problem and complications induced by the dynamics typically require trajectory optimization. State-of-the-art approaches often need significant computation time and complex parameter tuning. We present a novel dynamical model and a fast trajectory optimization algorithm for quadrotors with a cable-suspended payload. Our first contribution is a new formulation of the suspended payload behavior, modeled as a link attached to the quadrotor with a combination of two revolute joints and a prismatic joint, all being passive. Differently from state of the art, we do not require the use of hybrid modes depending on the cable tension. Our second contribution is a fast trajectory optimization technique for the aforementioned system. Our model enables us to pose the trajectory optimization problem as a Mathematical Program with Complementarity Constraints (MPCC). Desired behaviors of the system (e.g., obstacle avoidance) can easily be formulated within this framework. We show that our approach outperforms the state of the art in terms of computation speed and guarantees feasibility of the trajectory with respect to both the system dynamics and control input saturation, while utilizing far fewer tuning parameters. We experimentally validate our approach on a real quadrotor showing that our method generalizes to a variety of tasks, such as flying through desired waypoints while avoiding obstacles, or throwing the payload toward a desired target. To the best of our knowledge, this is the first time that three-dimensional, agile maneuvers exploiting the system dynamics have been achieved on quadrotors with a cable-suspended payload. SUPPLEMENTARY MATERIALThis paper is accompanied by a video showcasing the experiments: https://youtu.be/s9zb5MRXiHA

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A multilayer control for multirotor UAVs equipped with a servo robot arm

Cited by 129 publications

References 12 publications

Passivity-based control of VToL UAVs with a momentum-based estimator of external wrench and unmodeled dynamics

Passivity-based control of VToL UAVs with a momentum-based estimator of external wrench and unmodeled dynamics

Lightweight robotic arm actuated by shape memory alloy (SMA) wires

Fast Trajectory Optimization for Agile Quadrotor Maneuvers with a Cable-Suspended Payload

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