Design and integration of a drone based passive manipulator for capturing flying targets

Vidyadhara, B. V.; Tony, Lima Agnel; Gadde, Mohitvishnu S.; Jana, Shuvrangshu; Varun, V. P.; Bhise, Aashay Anil; Sundaram, Suresh; Ghose, Debasish

doi:10.1017/s0263574721001673

Cited by 10 publications

(9 citation statements)

References 30 publications

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“…Details of the manipulator mechanism are reported in ref. [36]. The overall operation management system design for the multi-drone system against various classes of targets is given in detail in ref.…”

Section: Hardware Description and Experimental Resultsmentioning

confidence: 99%

Interception of an aerial manoeuvring target using monocular vision

et al. 2022

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In this work, a vision-based guidance algorithm for interception of an aerial manoeuvring target is proposed. Vision-based aerial engagement in 3D space in an outdoor environment is challenging due to uncertainty in estimating the target location. The vision-based guidance algorithm proposed here generates the desired velocity commands for the interceptor drone based on the orientation of the target pixel in the image plane. The desired velocity at the centre of gravity of the interceptor is calculated such that the velocity at the camera centre is aligned towards the line joining the target pixel and the camera centre. It is shown that the proposed guidance strategy forces the target pixel towards the centre of the image plane and leads to low miss distance. The algorithm developed is first tested in the ROS-Gazebo platform and then implemented in field experiments.

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Section: Hardware Description and Experimental Resultsmentioning

confidence: 99%

Interception of an aerial manoeuvring target using monocular vision

et al. 2022

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“…These include tasks such as grabbing and grasping. For example, Vidyadhara et al (2022) presents a UAM having a fixed manipulator arm rigidly mounted to the quad‐rotor base with a passive end‐effector for grabbing the ball from a flying target. Roy et al (2021) present UAM with a grasping end‐effector at the base for picking and dropping payload at the desired location.…”

Section: Introductionmentioning

confidence: 99%

Projection operator‐based robust adaptive control of an aerial robot with a manipulator

Sumathy

Abdul

Ghose

2023

Journal of Field Robotics

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This paper describes a quadcopter manipulator system, an aerial robot with an extended workspace, its controller design, and experimental validation. The aerial robot is based on a quadcopter with a three degree of freedom robotic arm connected to the base of the vehicle. The work aims to create a stable airborne robot with a robotic arm that can work above and below the airframe, regardless of where the arm is attached. Integrating a robotic arm into an underactuated, unstable system like a quadcopter can enhance the vehicle's functionality while increasing instability. To execute a mission with accuracy and reliability during a real-time task, the system must overcome the inter-coupling effects and external disturbances. This work presents a novel design for a robust adaptive feedback linearization controller with a model reference adaptive controller and hardware implementation of the quadcopter manipulator system with plant uncertainties. The closed-loop stability of the aerial robot and the tracking error convergence with the robust controller is analyzed using Lyapunov stability analysis. The quadcopter manipulator system is custom developed in the lab with an off-the-shelf quadcopter and a 3D-printed robotic arm. The robotic system architecture is implemented using a Jetson Nano companion computer for autonomous onboard flight. Experiments were conducted on quadcopter manipulator system to evaluate the autonomous aerial robot's stability and trajectory tracking with the proposed controller.

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“…Moreover, complex systems or uncommon materials lead to expensive solutions, and they require proper actuation systems. 8 Few works have been proposed in literature exploiting simple active actuations systems 10,13,14 and also passive actuation systems [15][16][17] which ensure the grip by using adaptive soft elements and rigid ad-hoc geometries with zero mobility.…”

Section: Introductionmentioning

confidence: 99%

3D printed passive end-effector for industrial collaborative robotic arms

Nicolini

Sorrentino

Castagnetti

et al. 2023

Proceedings of the Institution of Mechanical Engineers, Part L:

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The work focuses on the design and prototyping of a novel end-effector for a collaborative robotic arm allowing to grab and drag industrial packages without lifting them. The proposed solution consists of a passive 3D-printed end-effector manufactured using carbon fibre reinforced Onyx material. Thanks to the entirely passive mechanical actuation that exploits the compliance of the main chassis, this end-effector features a simple, scalable, and inexpensive structure. This lightweight end-effector is specifically designed for small and low payload collaborative robotic arms. Specifically, the proposed end-effector includes three main parts. First, a thin blade, with the main function of separating boxes that are close to each other. Second, a rocker arm - rod mechanism, which allows an opposable bracket to be moved in order to grab the correspondent package. This is proportionally and passively actuated by the contact pressure between the package, during its grip, and a paddle (third part), which is composed of a flat leverage and three flexural springs to counterbalance the pushing force. This paddle and the main body of the gripper were designed as a single part exploiting 3D printing manufacturing capabilities. Moreover, we implemented a Simscape dynamic model that predicts the functionality of the end-effector during standard operations. The work shows how to design, develop and validate a new low cost, passive end-effector mainly oriented to collaborative robots. The final prototype demonstrates its entire functionality, and proves fabricability through 3D printing, thus minimizing production costs, weight, and time.

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Design and integration of a drone based passive manipulator for capturing flying targets

Cited by 10 publications

References 30 publications

Interception of an aerial manoeuvring target using monocular vision

Interception of an aerial manoeuvring target using monocular vision

Projection operator‐based robust adaptive control of an aerial robot with a manipulator

3D printed passive end-effector for industrial collaborative robotic arms

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