Modeling and Identification of Vibrations in a UAV for Aerial Manipulation

Cocuzza, Silvio; Doria, Alberto

doi:10.1007/978-3-030-55807-9_21

Cited by 4 publications

(1 citation statement)

References 11 publications

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“…To eradicate this limitation in our work, the shortest path found by the search algorithm is handed over to a trajectory generation algorithm, which generates a dynamically feasible and optimal trajectory with finite and smooth curvatures. The vibration of the UAV frame [36,37] and the motion of a robot manipulator mounted on the UAV [38] might affect the system dynamics and motion planning, and this will be investigated in future works. In particular, a reactionless motion of the manipulator [39][40][41][42] will be beneficial because it will not significantly affect the system dynamics.…”

Section: Introductionmentioning

confidence: 99%

Modified A-Star (A*) Approach to Plan the Motion of a Quadrotor UAV in Three-Dimensional Obstacle-Cluttered Environment

et al. 2022

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Motion-planning algorithms play a vital role in attaining various levels of autonomy for any ground or flying agent. Three-dimensional (3D) motion-planning is interesting, but rather complex, especially for flying agents such as autonomous unmanned aerial vehicles (UAVs), due to the increased dimensionality of space and consideration of dynamical constraints for a feasible trajectory. Usually, in 3D path search problems, it is hard to avoid extra expanded nodes due to increased dimensionality with various available search options. Therefore, this paper discusses and implements a modified heuristic-based A* formalism that uses a truncation mechanism in order to eradicate the mentioned problem. In this formalism, the complete motion planning is divided into shortest path search problem and smooth trajectory generation. The shortest path search problem is subdivided into an initial naïve guess of the path and the truncation of the extra nodes. To find a naïve shortest path, a conventional two-dimensional (2D) A* algorithm is augmented for 3D space with six-sided search. This approach led to the inclusion of extra expanded nodes and, therefore, it is not the shortest one. Hence, a truncation algorithm is developed to further process this path in order to truncate the extra expanded nodes and then to shorten the path length. This new approach significantly reduces the path length and renders only those nodes that are obstacle-free. The latter is ensured using a collision detection algorithm during the truncation process. Subsequently, the nodes of this shortened path are used to generate a dynamically feasible and optimal trajectory for the quadrotor UAV. Optimal trajectory generation requires that the plant dynamics must be differentially flat. Therefore, the corresponding proof is presented to ensure generation of the optimal trajectory. This optimal trajectory minimizes the control effort and ensures longer endurance. Moreover, quadrotor model and controllers are derived as preliminaries, which are subsequently used to track the desired trajectory generated by the trajectory planner. Finally, results of numerical simulations which ultimately validate the theoretical developments are presented.

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Section: Introductionmentioning

confidence: 99%

Modified A-Star (A*) Approach to Plan the Motion of a Quadrotor UAV in Three-Dimensional Obstacle-Cluttered Environment

et al. 2022

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Dynamic interaction between robot and UAV in aerial manipulation

Cocuzza

Rossetto

Doria

2020

2020 19th International Conference on Mechatronics - Mechatronika (ME)

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Reducing the Maximum Amplitudes of Forced Vibrations of a Quadcopter Arm Using an Aerodynamic Profile Adapter

Tofan-Negru,

Ștefan,

Casapu

2024

Drones

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This research focuses on the dynamic response analysis of a quadcopter arm without an adapter mounted and with aerodynamic profile adapters mounted to enhance drone performance. Nine different adapters were simulated to assess their impact on the arm’s dynamic behavior during various motor operating regimes. The pressure force distribution from the airflow around the quadcopter arm was analyzed to determine the optimal adapter configuration. Numerical simulations revealed the best geometry for the adapter, which significantly reduced maximum displacement amplitudes compared to the non-adapter arm. The study also examined the effects of static imbalance from the rotor-propeller assembly, leading to the calculation of an eccentricity value of 0.022 mm for inertial force application. Experimental tests validated the numerical findings, with laser vibrometer measurements confirming improved dynamic responses with Adapter 8 across most operating regimes. Overall, the study shows the advantages of using better aerodynamic designs in quadcopter arms to improve stability and performance, contributing to advancements in drone technology through improved structural designs.

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Modeling and Identification of Vibrations in a UAV for Aerial Manipulation

Cited by 4 publications

References 11 publications

Modified A-Star (A*) Approach to Plan the Motion of a Quadrotor UAV in Three-Dimensional Obstacle-Cluttered Environment

Modified A-Star (A*) Approach to Plan the Motion of a Quadrotor UAV in Three-Dimensional Obstacle-Cluttered Environment

Dynamic interaction between robot and UAV in aerial manipulation

Reducing the Maximum Amplitudes of Forced Vibrations of a Quadcopter Arm Using an Aerodynamic Profile Adapter

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