Modeling and Control of Aerial Continuum Manipulation Systems: A Flying Continuum Robot Paradigm

Samadikhoshkho, Zahra; Ghorbani, Shahab; Janabi–Sharifi, Farrokh

doi:10.1109/access.2020.3026279

Cited by 29 publications

(51 citation statements)

References 38 publications

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“…The movement, though, of the manipulator significantly affects the aerial system's center of mass (CoM), and, thus, in [9], [10] parallel structure manipulators are used in order to minimize the reaction forces/torques and improve the overall stiffness. In [11], a new manipulation system is proposed where a continuum robotic arm is used for cluttered environments.…”

Section: Introductionmentioning

confidence: 99%

Leader/Follower Force Control of Aerial Manipulators

Γκούντας

Tzes

2021

IEEE Access

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This article focuses on the modeling and controlling of Unmanned Aerial Manipulators (UAMs) in a leader/follower configuration performing a cooperative manipulation task. Each UAM consists of an Unmanned Aerial Vehicle (UAV) with an attached serial-link robotic manipulator. The Recursive Newton-Euler dynamics formulation is employed to account for the interaction between the UAV and its manipulator. The overall system consists of a couple UAMs with a carrying load. The coupling between these systems is due to the exerted forces by their manipulators through the object characterized by its stiffness matrix. A leader/follower control scheme is employed with a stabilityanalysis tailored to the UAM-pair. The leader UAM defines the trajectory of the moving object while the follower acts so as to reduce the system's internal reaction forces. Simulation studies are employed to validate the controller's performance while comparing the system's response against that derived from a classical nonlinear tracking controller.

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Section: Introductionmentioning

confidence: 99%

Leader/Follower Force Control of Aerial Manipulators

Γκούντας

Tzes

2021

IEEE Access

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“…However, AMS-RMs have several issues, highlighted in Table 1. For instance, AMS-RMs are not compliant with their environment or shape of the objects, hence requiring exact information about the object shape and position, environmental constraints, and so on [20]. Therefore, AMS-RMs are often operated at a reduced speed to ensure successful grasps [21].…”

Section: Introductionmentioning

confidence: 99%

“…Such conventional AMSs can hardly be utilized for interactive missions in confined and unstructured environments [22]. As a remedy for the aforementioned issues, AMS with continuum robotic (CR) arms, namely aerial continuum manipulation system (ACMS), [20] (Figure 1) and soft robots [21] have been introduced in the literature. The advantages of CRs and ACMSs have been highlighted in Table 1 and the recent report [20].…”

Section: Introductionmentioning

confidence: 99%

“…As a remedy for the aforementioned issues, AMS with continuum robotic (CR) arms, namely aerial continuum manipulation system (ACMS), [20] (Figure 1) and soft robots [21] have been introduced in the literature. The advantages of CRs and ACMSs have been highlighted in Table 1 and the recent report [20]. For instance, mechanical compliance of ACMS can boost safety when manipulators physically interact with the environment [23][24][25].…”

Section: Introductionmentioning

confidence: 99%

“…For instance, mechanical compliance of ACMS can boost safety when manipulators physically interact with the environment [23][24][25]. Despite the preliminary analysis of ACMSs in [20], there are still many open problems related to their modeling. For example, a previously reported modeling approach [20] for the continuum arm and UAV platform was based on the decoupled dynamics assumption, which decreases the accuracy of the model and introduces certain challenges to the whole ACMS control design.…”

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

Coupled Dynamic Modeling and Control of Aerial Continuum Manipulation Systems

2021

Self Cite

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Aerial continuum manipulation systems (ACMSs) were newly introduced by integrating a continuum robot (CR) into an aerial vehicle to address a few issues of conventional aerial manipulation systems such as safety, dexterity, flexibility and compatibility with objects. Despite the earlier work on decoupled dynamic modeling of ACMSs, their coupled dynamic modeling still remains intact. Nonlinearity and complexity of CR modeling make it difficult to design a coupled ACMS model suitable for practical applications. This paper presents a coupled dynamic modeling for ACMSs based on the Euler–Lagrange formulation to deal with CR and the aerial vehicle as a unified system. For this purpose, a general vertical take-off and landing vehicle equipped with a tendon-driven continuum arm is considered to increase the dexterity and compliance of interactions with the environment. The presented model is independent of the motor’s configuration and tilt angles and can be applied to model any under/fully actuated ACMS. The modeling approach is complemented with a Lyapunov-wise stable adaptive sliding mode control technique to demonstrate the validity of the proposed method for such a complex system. Simulation results in free flight motion scenarios are reported to verify the effectiveness of the proposed modeling and control techniques.

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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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Modeling and Control of Aerial Continuum Manipulation Systems: A Flying Continuum Robot Paradigm

Cited by 29 publications

References 38 publications

Leader/Follower Force Control of Aerial Manipulators

Leader/Follower Force Control of Aerial Manipulators

Coupled Dynamic Modeling and Control of Aerial Continuum Manipulation Systems

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

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