A Novel Aerial Manipulator with Front Cutting Effector: Modeling, Control, and Evaluation

Xu, Hao; Yang, Zhong; Guoxing, Zhou; Liao, Luwei; Xu, Chao-Jiang; Wu, Jiying; Zhang, Qiuyan; Zhang, Chi

doi:10.1155/2021/5695681

Cited by 2 publications

(3 citation statements)

References 32 publications

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“…This reduces risks for human operators who work closely with high-voltage power lines, and the time and cost associated with scheduled maintenance. A novel aerial manipulator with a cutting-edge end effector is discussed in [7] to address the aerial physical-interaction problem. It would be very useful in cutting high-height trees in any forest areas that are inaccessible to workers or pose a significant safety risk due to the compact symmetry of the trees.…”

Section: Literature Reviewmentioning

confidence: 99%

Design and Control of Autonomous Flying Excavator

Zaman,

Seo

2023

Machines

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This study presents a drone-based excavation platform prototype with the key objectives of balancing stability during excavation, sensing, and digging the soil pile autonomously without human intervention. The whole platform was first designed in CAD software, and then each part of the excavator assembly was 3D printed by using PLA filament. The physical system was then combined with numerous electronic components and linked to various software applications for a drone to perform autonomous excavations. Pixhawk Orange Cube served as the main controller for the drone, while Nvidia Jetson Nano was used for processing data and controlling the tip of the bucket at a specified location for the autonomous excavator. Two scenarios were considered to validate the functionality of the developed platform. In the first scenario, the drone flies independently to a construction site, lands, senses the soil, excavates it, and then travels to another location specified by the mission to deposit the soil.

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Section: Literature Reviewmentioning

confidence: 99%

Design and Control of Autonomous Flying Excavator

Zaman,

Seo

2023

Machines

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“…AMSs have been designed for use in a variety of applications, including transporting objects [1], inspection [2], fetching [3], turning valves [4], door opening [5], perching [6], grasping, and manipulation [7]. The high demand for vegetation sampling and the associated difficulties of the task have lately attracted attention to using AMSs for this purpose [8][9][10][11][12]. Despite early efforts to develop an efficient AMS for vegetation sampling, the technology is still in its early stage.…”

Section: Introductionmentioning

confidence: 99%

“…The integrator term in the traditional PID improves the disturbance suppression and robustness, but this term also increases the tracking overshoot and degrades the system stability. In [10], a unique aerial manipulator with a front cutting effector and a disturbance observer (DO) was suggested to evaluate external disturbances and correct for them using a sliding mode controller, using a passive cutting tool rather than an active robotic manipulator.…”

Section: Introductionmentioning

confidence: 99%

Decoupled Control Design of Aerial Manipulation Systems for Vegetation Sampling Application

Samadikhoshkho

Lipsett

2023

Drones

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A key challenge in the use of drones for an aerial manipulation task such as cutting tree branches is the control problem, especially in the presence of an unpredictable and nonlinear environment. While prior work focused on simplifying the problem by modeling a simple interaction with branches and controlling the system with nonlinear and non-robust control schemes, the current work deals with the problem by designing novel robust nonlinear controllers for aerial manipulation systems that are appropriate for vegetation sampling. In this regard, two different potential control schemes are proposed: nonlinear disturbance observer-based control (NDOBC) and adaptive sliding mode control (ASMC). Each considers the external disturbances and unknown parameters in controller design. The proposed control scheme in both methods employs a decoupled architecture that treats the unmanned aerial vehicle and the manipulator arm of the sampler payload as separate units. In the proposed control structures, controllers are designed after comprehensively investigating the dynamics of both the aerial vehicle and the robotic arm. Each system is then controlled independently in the presence of external disturbances, unknown parameter changes, and the nonlinear coupling between the aerial vehicle and robotic arm. In addition, fully actuated and underactuated aerial platforms are examined, and their stability and controllability are compared so as to choose the most practical framework. Finally, the simulation findings verify and compare the performance and effectiveness of the proposed control strategies for a custom aerial manipulation system that has been designed and developed for field trials.

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A Novel Aerial Manipulator with Front Cutting Effector: Modeling, Control, and Evaluation

Cited by 2 publications

References 32 publications

Design and Control of Autonomous Flying Excavator

Design and Control of Autonomous Flying Excavator

Decoupled Control Design of Aerial Manipulation Systems for Vegetation Sampling Application

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