A prototype of aerial manipulator

Torre, Alessio; Mengoli, Dario; Naldi, Roberto; Forte, Francesco; Macchelli, Alessandro; Marconi, Lorenzo

doi:10.1109/iros.2012.6386279

Cited by 18 publications

(4 citation statements)

References 11 publications

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“…3 With ductedfan UAVs, there are parallel manipulators. 4,5 On the multirotor drone, which is the most popular research platform due to its mechanical simplicity and reliability, there are single and dual serial manipulators with different DOFs, [6][7][8][9][10][11][12][13][14] parallel manipulators, [15][16][17] vacuum suction manipulators, 18 humanoid arms 19 and magnetic manipulator. 20 Most of these manipulators come from or evolve from industrial manipulators.…”

Section: Manipulatormentioning

confidence: 99%

Exploring aerial perching and grasping with dual symmetric manipulators and compliant end-effectors

Wang

Wong

2019

International Journal of Micro Air Vehicles

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Inspired by talon of a predator bird, this paper presents a quadrotor with two 2-Degree of Freedoms (DOFs) compliant manipulators which could mimic bird perching and grasping. The symmetric configuration of the manipulators causes minimum shift in center of gravity and a minimum disturbance to the angular momentum of the platform during grasping and perching maneuvers. Thus, the dynamics of the manipulator is independent to that of the platform. Moreover, a compliant end-effector is introduced to decouple the dynamics of the unmanned aerial vehicles from the force interaction with the environment or target objects. Therefore, aerial manipulation problem is significantly simplified due to the minimum amount of disturbance among components. In addition, the manipulators could function as the landing gear, which allows larger work envelope, weight saving and less landing impact. It also has the potential to achieve a birdlike "perch and watch" to increase the endurance of unmanned aerial vehicles in missions that involve extended endurance.

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Section: Manipulatormentioning

confidence: 99%

Exploring aerial perching and grasping with dual symmetric manipulators and compliant end-effectors

Wang

Wong

2019

International Journal of Micro Air Vehicles

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“…Airbot: Motivated by recent progress in aerial robotics we consider trajectory generation of an articulated flying mechanisms capable of performing aerial manipulation tasks [34], [35], [36], [37], [38]. The vehicle is termed "airbot" in the comparison table.…”

Section: Numerical Examplesmentioning

confidence: 99%

Discrete optimal control on lie groups and applications to robotic vehicles

Kobilarov

2014

2014 IEEE International Conference on Robotics and Automation (ICRA)

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This paper is concerned with optimal trajectory generation for robotic multi-body systems. The focus is on discrete optimal control methods which operate intrinsically in the state space system manifold and do not require coordinate charts or projections. This is accomplished by defining both the dynamics and the optimal control solution as sequences of vector fields mapping to curves on the Lie group through retraction maps, and defining variations and differentiation with respect to such vector fields. As a result, standard trajectory optimization methods can be easily extended to the Lie group setting without loss of efficiency. The methods are illustrated with three numerical examples: a quadrotor, an aerial vehicle with manipulators, and a simple nonholonomic system.

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“…The other types of research are concerned about interaction with existing structures, as example, for contact inspection. In [10] research has been conducted on utilizing a brush as a manipulator. However, the above approaches have limitations for manipulation.…”

Section: Introductionmentioning

confidence: 99%

Controller Design of a New Quadrotor Manipulation System Based on Robust Internal-Loop Compensator

Khalifa

Fanni

Ramadan

et al. 2015

2015 IEEE International Conference on Autonomous Robot Systems and Competitions

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This paper introduces control design of an aerial manipulator which consists of 2-link manipulator attached to the bottom of a quadrotor. This new system presents a solution for the limitations found in the current quadrotor manipulation system.The proposed robot enables the end effector to achieve any arbitrary position and orientation, and thus it increases its degrees of freedom from 4 to 6. Also, it provides enough distance between the quadrotor and the object to be manipulated. To study the feasibility of the proposed system, a quadrotor with high enough payload to add the 2-link manipulator is designed and constructed. The system parameters are identified to be used in the simulation and controller design of the proposed system. System modeling are described briefly. The controller of the proposed system is designed based on Robust Internal-loop Compensator (RIC) and compared to Fuzzy Model Reference Learning Control (FMRLC) technique which was previously designed and tested for the proposed system. These controllers are tested in order to achieve system stability and trajectory tracking under the effect of picking/placing a payload as well as under the effect of changing the operating region. Simulation framework is implemented in MATLAB/SIMULINK environment. Simulation results verifies the effectiveness of the proposed control technique.

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A prototype of aerial manipulator

Cited by 18 publications

References 11 publications

Exploring aerial perching and grasping with dual symmetric manipulators and compliant end-effectors

Exploring aerial perching and grasping with dual symmetric manipulators and compliant end-effectors

Discrete optimal control on lie groups and applications to robotic vehicles

Controller Design of a New Quadrotor Manipulation System Based on Robust Internal-Loop Compensator

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