Exploration of UAV Rope Handling and Flight in Narrow Space Strategies, using a Three-arm Aerial Manipulator System

Yamada, Toshiki; Tsuji, Takayoshi; Paul, Hannibal; Martinez, Ricardo Rosales; Ladig, Robert; Shimonomura, Kazuhiro

doi:10.1109/aim52237.2022.9863293

Cited by 3 publications

(3 citation statements)

References 13 publications

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“…Meanwhile, considering the high cost and risk involved in large infrastructure inspections, Hamaza et al [11] utilized a rotary-wing UAV equipped with a compact single-DOF manipulator to perform facility inspections and sensor installation. Yamada et al [12] researched a three-arm aerial manipulator using a flying robot for rope fixation and removal tasks and developed a manipulator structure suitable for complex operations. Peng et al [13] presented a novel aerial manipulator system with a self-locking universal joint mechanism.…”

Section: Related Workmentioning

confidence: 99%

“…Indeed, the control and positioning navigation of the aerial manipulator system continue to face challenges when interacting with the environment. Regarding the structure of the aerial manipulator, numerous designs for the flight mechanical arm platform have been proposed for specific application scenarios [9][10][11][12][13][14]. However, these are limited by complex structures, low control accuracy, and insufficient robustness.…”

Section: Related Workmentioning

confidence: 99%

“…Moreover, the aerial manipulator control algorithms proposed by previous studies require relatively complex kinematic and dynamic modeling, most of which are in the simulation stage and are challenging to apply in actual systems. Hence, real-machine flight has yet to be achieved [12,14,15,19,21,23]. Therefore, this paper focuses on developing an experimental platform for a UAV with a manipulator with lower-level control, positioning and navigation, and top-level application algorithms, ultimately achieving real-machine flight of target object grasping.…”

Section: Related Workmentioning

confidence: 99%

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Vision-Guided Hierarchical Control and Autonomous Positioning for Aerial Manipulator

Ye,

Cui,

Wang

et al. 2023

Applied Sciences

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Aerial manipulator systems possess active operational capability, and by incorporating various sensors, the systems’ autonomy is further enhanced. In this paper, we address the challenge of accurate positioning between an aerial manipulator and the operational targets during tasks such as grasping and delivery in the absence of motion capture systems indoors. We propose a vision-guided aerial manipulator system comprising a quad-rotor UAV and a single-degree-of-freedom manipulator. First, the overall structure of the aerial manipulator is designed, and a hierarchical control system is established. We employ the fusion of LiDAR-based SLAM (simultaneous localization and mapping) and IMU (inertial measurement unit) to enhance the positioning accuracy of the aerial manipulator. Real-time target detection and recognition are achieved by combining a depth camera and laser sensor for distance measurements, enabling adjustment of the grasping pose of the aerial manipulator. Finally, we employ a segmented grasping strategy to position and grasp the target object precisely. Experimental results demonstrate that the designed aerial manipulator system maintains a stable orientation within a certain range of ±5° during operation; its position movement is independent of orientation changes. The successful autonomous grasping of lightweight cylindrical objects in real-world scenarios verifies the effectiveness and rationality of the proposed system, ensuring high operational efficiency and robust disturbance resistance.

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Section: Related Workmentioning

confidence: 99%