Maneuvering Control of Hexrotor UAV Equipped With a Cable-Driven Gripper

Ali, Zain Anwar; Han, Zhangang

doi:10.1109/access.2021.3076129

Cited by 15 publications

(5 citation statements)

References 26 publications

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“…For rigid body D in B, B initially coincides with G. We denote point O as the origin of the coordinate systems [27]. The motion of D around G is "revolution".…”

Section: Rotary Kinematicsmentioning

confidence: 99%

Formal Verification of Robot Rotary Kinematics

et al. 2023

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With the widespread application of robots in aerospace, medicine, automation, and other fields, their motion safety is essential for the well-being of humans and the accomplishment of vital socially beneficial programs. Conventional robot hardware and software designs mainly rely on experiential knowledge and manual testing to ensure safety, but this fails to cover all possible testing paths and adds risks. Alternatively, formal, mathematically rigorous verifications can provide predictable and reliable guarantees of robot motion safety. To demonstrate the feasibility of this approach, we formalize the mathematical coordinate transformation of a robot’s rigid-body kinematics using the Coq Proof Assistant to verify the correctness of its theoretical design. First, based on record-type matrix formalization, we define and verify a robot’s spatial geometry by constructing formal expressions of the matrix’ Frobenius norm, trace, and inner product. Second, we divide rotary motion into revolution and rotation construct and provide their formal definitions. Next, we formally verify the rotational matrices of angle conventions (e.g., roll–pitch–yaw and Euler), and we complete the formal verification of the Rodriguez formula to formally verify the correctness of the motion theory in specific rotating kinematics problems. The formal work of this paper has a variety of essential applications and provides a generalizable kinematics analysis framework for robot control system verification. Moreover, it paves the way for automatic programming capabilities.

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“…For rigid body D in B, B initially coincides with G. We denote point O as the origin of the coordinate systems [27]. The motion of D around G is "revolution".…”

Section: Rotary Kinematicsmentioning

confidence: 99%

Formal Verification of Robot Rotary Kinematics

et al. 2023

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“…For drones in general, Mokhtari et al [35] investigate the effect of wind on rotational dynamics of a drone; however, presence of tether changes the dynamics significantly. Ali et al [36] discuss control of the hexrotor drone equipped with a cable-driven gripper, subject to wind disturbances, using model reference adaptive control with an integrator.…”

Section: Introductionmentioning

confidence: 99%

Active manipulation of a tethered drone using explainable AI

Barawkar,

Kumar

2024

Complex Engineering Systems

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Tethered drones are currently finding a wide range of applications such as for aerial surveillance, traffic monitoring, and setting up ad-hoc communication networks. However, many technological gaps are required to be addressed for such systems. Most commercially available tethered drones hover at a certain position; however, the control task becomes challenging when the ground robot or station needs to move. In such a scenario, the drone is required to coordinate its motion with the moving ground vehicle without which the tether can destabilize the drone. Another challenging aspect is when the system is required to operate in GPS denied environments, such as in planetary exploration. In this paper, to address these issues, we take advantage of passive or force-based control in which the tension in the tether is sensed and used to drive the drone. Fuzzy logic is used to implement the force-based controller as a tool for explainable Artificial Intelligence. The proposed fuzzy logic controller takes tether force and its rate of change as the inputs and provides desired attitudes as the outputs. Via simulations and experiments, we show that the proposed controller allows effective coordination between the drone and the moving ground rover. The rule-based feature of fuzzy logic provides linguistic explainability for its decisions. Simulation and experimental results are provided to validate the novel controller. This paper additionally develops an adaptive controller for estimating unknown constant winds on these tethered drone systems using a proportional controller. The simulation results demonstrate the effectiveness of the proposed adaptive control scheme in addressing the effect of wind on a tethered drone.

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“…Some impressive results are obtained in Refs. [1][2][3]. Mathematicians are also interested in the configuration space of mechanical linkages.…”

Section: Introduction 11 Mathematical Study Of Roboticsmentioning

confidence: 99%

Perspective Chapter: On the Morse Property for the Distance Function of a Robot Arm

Kamiyama

2023

Motion Planning for Dynamic Agents

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Morse theory plays a central role when we study the configuration space of various mechanical linkages. As an important linkage, we consider the planar robot arm. It is known that the distance function on its configuration space is a Morse function. On the other hand, for a fixed angle θ, we consider the spatial robot arm whose adjacent bond angles are θ. In chemistry, such an arm is used as a model for protein backbones and has been studied extensively. We consider the distance function on its configuration space. The purpose of this chapter is threefold: First, we study whether the distance function is a Morse function. Second, we determine the minimum and maximum values of the function. Consider the case that the arm consists of four bars. Then our third purpose is to study how the distance function is different from the usual Morse function on the torus.

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Maneuvering Control of Hexrotor UAV Equipped With a Cable-Driven Gripper

Cited by 15 publications

References 26 publications

Formal Verification of Robot Rotary Kinematics

Formal Verification of Robot Rotary Kinematics

Active manipulation of a tethered drone using explainable AI

Perspective Chapter: On the Morse Property for the Distance Function of a Robot Arm

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