Development of a Vision-enabled Aerial Manipulator using a Parallel Robot

Cho, Sungwook; Shim, David Hyunchul

doi:10.2322/tastj.15.a27

Cited by 10 publications

(6 citation statements)

References 10 publications

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“…Redundant robot arm n > 6, in (Huber et al, 2013)aerial manipulation with a 7-DOF industrial manipulator based on a main-tail-rotor helicopter, in (Danko and Oh, 2014)the Hyper-redundant manipulator with 9-DOF gives a large reachable spaces. UAV with a different structure for grasping, transporting, manipulation an object, a delta structure fixed on side of UAV (Fumagalli et al, 2014), and parallel robot in (Cho and Shim, 2017;Danko et al, 2015), and interaction with object applying a forces and torque, a dual 4-dof arm on UAV in (Korpela et al, 2013).…”

Section: Related Workmentioning

confidence: 99%

A Novel Aerial Manipulation Design, Modelling and Control for Geometric CoM Compensation

Bouzgou

Benchikh

Nouvelière

et al. 2019

Proceedings of the 16th International Conference on Informatics in Control, Automation and Robotics

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This paper presents the design and modelling of a new Aerial manipulating system, that resolve a displacement of centre of gravity of the whole system with a mechanical device. A prismatic joint between the multirotor and a robotic arm is introduced to make a centre of mass as close as to the geometric centre of the whole system. This paper details also the geometric and dynamic modelling of a coupled system with a Lagrange formalism and control law with a Closed Loop Inverse Kinematic Algorithm (CLIKA). This dynamic inverse control is validated in a Simulink environment showing the efficiency of our approach.

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Section: Related Workmentioning

confidence: 99%

A Novel Aerial Manipulation Design, Modelling and Control for Geometric CoM Compensation

Bouzgou

Benchikh

Nouvelière

et al. 2019

Proceedings of the 16th International Conference on Informatics in Control, Automation and Robotics

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“…Several types of end effectors for aerial grasping have been developed and can be classified into two types: those using mechanical force-closure (Backus et al, 2014; Lippiello et al, 2016; Pounds et al, 2011) and those using suction force (Anzai et al, 2017; CHO and SHIM, 2017; Gawel et al, 2017). As an exception, Mellinger et al (2011) employed hooks to perform grasping with possible penetration on the object surface.…”

Section: Introductionmentioning

confidence: 99%

Transformable multirotor with two-dimensional multilinks: Modeling, control, and whole-body aerial manipulation

Zhao

Kawasaki

Anzai

et al. 2018

The International Journal of Robotics Research

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A multirotor with two-dimensional multilinks is proposed to perform aerial transformation and aerial manipulation. First, a modular link structure that comprises a multirotor with a reliable internal communication system was initially developed. Second, a flight control method was further introduced on the basis of linear-quadratic-integral optimal control for aerial transformation. A relaxed hovering solution that neglects the yaw motion stability is proposed to enable stable flight under a certain singular form. Third, the transformable robot was employed as an entire gripper with regards to grasping to perform the whole-body aerial manipulation. A grasp-form searching method was developed to optimize hovering thrust force and joint torque under force-closure grasp, and was followed by an aerial approach and grasp-motion strategy to fulfill the resulting desired grasp form. Finally, experimental results demonstrate the stable aerial transformation as well as the feasibility of the whole-body aerial manipulation system to grasp and carry different types of objects.

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“…There is no doubt that this system has an additional degrees-of-freedom (DOF) to control these adverse effects, but it cannot ensure overall system stability in an uncertain environment. 7,8 Second, the vision sensor system has been applied to the host vehicle or the end-effector. The pose of the end-effector or host vehicle is moved in detail by performing visual servoing relative to the target in the small disparity environment.…”

Section: Introductionmentioning

confidence: 99%

“…Furthermore, the pose alignment is also applied in a limited workspace while accomplishing the whole mission to prevent the singularity or nonlinearity. 7,8 Motivated by such practical aspects, we propose two contributions: one is the vision-enabled aerial parallel manipulator, and the other is a Gaussian process-based visual servoing framework. First, a Quattro-parallel manipulator-based aerial manipulator is proposed.…”

Section: Introductionmentioning

confidence: 99%

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Visual servoing framework using Gaussian process for an aerial parallel manipulator

Cho

Shim

2018

Proceedings of the Institution of Mechanical Engineers, Part G:

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This paper proposes a Gaussian process based visual servoing framework for an aerial parallel manipulator. Our aerial parallel manipulator utilizes the on-board eye-in-hand vision sensor system attached on the end-effector of three-degrees-of-freedom parallel manipulator. There are three major advantages: small, light in weight, and linearity with respect to the host vehicle rather than the serial manipulator, but it has a critical drawback that its workspace is too small to perform the mission itself during the hovering. In order to overcome the limited workspace problem and perform the mission more actively, proposed visual servoing framework is proposed to generate relative body velocity commands of the host vehicle by using the interpolated and extrapolated feature path between the initial and desired features to fed into the underactuated aerial parallel manipulator. It can generate not only numerical stable but also feasible control input. Furthermore, it can overcome the weakness of the traditional image-based visual servoing such as singularities, uncertainties, and local minimums during calculating image Jacobian under the large disparity environment between the target and the unmanned aerial vehicle. As a result of the proposed contribution, we show that our contribution is reliable to perform the picking-and-replacement autonomously, and it shows that it can be applied in the large displacement environments throughout the flight test.

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Development of a Vision-enabled Aerial Manipulator using a Parallel Robot

Cited by 10 publications

References 10 publications

A Novel Aerial Manipulation Design, Modelling and Control for Geometric CoM Compensation

A Novel Aerial Manipulation Design, Modelling and Control for Geometric CoM Compensation

Transformable multirotor with two-dimensional multilinks: Modeling, control, and whole-body aerial manipulation

Visual servoing framework using Gaussian process for an aerial parallel manipulator

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