Aerial Manipulation
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Aerial Manipulation
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Author : Matko Orsag
language : en
Publisher: Springer
Release Date : 2017-09-19
Aerial Manipulation written by Matko Orsag and has been published by Springer this book supported file pdf, txt, epub, kindle and other format this book has been release on 2017-09-19 with Technology & Engineering categories.
This text is a thorough treatment of the rapidly growing area of aerial manipulation. It details all the design steps required for the modeling and control of unmanned aerial vehicles (UAV) equipped with robotic manipulators. Starting with the physical basics of rigid-body kinematics, the book gives an in-depth presentation of local and global coordinates, together with the representation of orientation and motion in fixed- and moving-coordinate systems. Coverage of the kinematics and dynamics of unmanned aerial vehicles is developed in a succession of popular UAV configurations for multirotor systems. Such an arrangement, supported by frequent examples and end-of-chapter exercises, leads the reader from simple to more complex UAV configurations. Propulsion-system aerodynamics, essential in UAV design, is analyzed through blade-element and momentum theories, analysis which is followed by a description of drag and ground-aerodynamic effects. The central part of the book is dedicated to aerial-manipulator kinematics, dynamics, and control. Based on foundations laid in the opening chapters, this portion of the book is a structured presentation of Newton–Euler dynamic modeling that results in forward and backward equations in both fixed- and moving-coordinate systems. The Lagrange–Euler approach is applied to expand the model further, providing formalisms to model the variable moment of inertia later used to analyze the dynamics of aerial manipulators in contact with the environment. Using knowledge from sensor data, insights are presented into the ways in which linear, robust, and adaptive control techniques can be applied in aerial manipulation so as to tackle the real-world problems faced by scholars and engineers in the design and implementation of aerial robotics systems. The book is completed by path and trajectory planning with vision-based examples for tracking and manipulation.
Aerial Robotic Manipulation
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Author : Anibal Ollero
language : en
Publisher: Springer
Release Date : 2019-06-27
Aerial Robotic Manipulation written by Anibal Ollero and has been published by Springer this book supported file pdf, txt, epub, kindle and other format this book has been release on 2019-06-27 with Technology & Engineering categories.
Aerial robotic manipulation integrates concepts and technologies coming from unmanned aerial systems and robotics manipulation. It includes not only kinematic, dynamics, aerodynamics and control but also perception, planning, design aspects, mechatronics and cooperation between several aerial robotics manipulators. All these topics are considered in this book in which the main research and development approaches in aerial robotic manipulation are presented, including the description of relevant systems. In addition of the research aspects, the book also includes the deployment of real systems both indoors and outdoors, which is a relevant characteristic of the book because most results of aerial robotic manipulation have been validated only indoor using motion tracking systems. Moreover, the book presents two relevant applications: structure assembly and inspection and maintenance, which has started to be applied in the industry. The Chapters of the book will present results of two main European Robotics Projects in aerial robotics manipulation: FP7 ARCAS and H2020 AEROARMS. FP7 ARCAS defined the basic concepts on aerial robotic manipulation, including cooperative manipulation. The H2020 AEROARMS on aerial robot with multiple arms and advanced manipulation capabilities for inspection and maintenance has two general objectives: (1) development of advanced aerial robotic manipulation methods and technologies, including manipulation with dual arms and multi-directional thrusters aerial platforms; and (2) application to the inspection and maintenance.
Design Modeling And Control Of Aerial Robots For Physical Interaction And Manipulation
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Author : Burak Yüksel
language : en
Publisher: Logos Verlag Berlin GmbH
Release Date : 2017-06-10
Design Modeling And Control Of Aerial Robots For Physical Interaction And Manipulation written by Burak Yüksel and has been published by Logos Verlag Berlin GmbH this book supported file pdf, txt, epub, kindle and other format this book has been release on 2017-06-10 with Technology & Engineering categories.
Aerial robots, meaning robots with flying capabilities, are essentially robotic platforms, which are autonomously controlled via some sophisticated control engineering tools. Similar to aerial vehichles, they can overcome the gravitational forces thanks to their design and/or actuation type. What makes them different from the conventional aerial vehicles, is the level of their autonomy. Reducing the complexity for piloting of such robots/vehicles provide the human operator more freedom and comfort. With their increasing autonomy, they can perform many complicated tasks by their own (such as surveillance, monitoring, or inspection), leaving the human operator the most high-level decisions to be made, if necessary. In this way they can be operated in hazardous and challenging environments, which might posses high risks to the human health. Thanks to their wide range of usage, the ongoing researches on aerial robots is expected to have an increasing impact on the human life. Aerial Physical Interaction (APhI) is a case, in which the aerial robot exerts meaningful forces and torques (wrench) to its environment while preserving its stable flight. In this case, the robot does not try avoiding every obstacle in its environment, but prepare itself for embracing the effect of a physical interaction, furthermore turn this interaction into some meaningful robotic tasks. Aerial manipulation can be considered as a subset of APhI, where the flying robot is designed and controlled in purpose of manipulating its environment. A clear motivation of using aerial robots for physical interaction, is to benefit their great workspace and agility. Moreover, developing robots that can perform not only APhI but also aerial manipulation can bring the great workspace of the flying robots together with the vast dexterity of the manipulating arms. This thesis work is addressing the design, modeling and control problem of these aerial robots for the purpose of physical interaction and manipulation. Using the nonlinear mathematical models of the robots at hand, in this thesis several different control methods (IDA-PBC, Exact Linearization, Differential Flatness Based Control) for APhI and aerial manipulation tasks have been developed and proposed. Furthermore, novel design tools (e.g. new rigid/elastic manipulating arms, hardware, software) to be used together with miniature aerial robots are presented within this thesis, which contributes to the robotics society not only in terms of concrete theory but also practical implementation and experimental robotics.
Design And Control Of A Compact Aerial Manipulation System With A Delta Type Parallel Robot
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Author : Gabriel Barsi Haberfeld
language : en
Publisher:
Release Date : 2017
Design And Control Of A Compact Aerial Manipulation System With A Delta Type Parallel Robot written by Gabriel Barsi Haberfeld and has been published by this book supported file pdf, txt, epub, kindle and other format this book has been release on 2017 with categories.
Soft Aerial Manipulation
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Author : Joshua S. Fishman
language : en
Publisher:
Release Date : 2021
Soft Aerial Manipulation written by Joshua S. Fishman and has been published by this book supported file pdf, txt, epub, kindle and other format this book has been release on 2021 with categories.
Video attachments: https://youtu.be/NNpQxP0SPFk https://youtu.be/mqbj8mEyCdk
Control Planning And Coordination For Dynamic Aerial Manipulation With Robot Teams
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Author : Sarah Yifang Tang
language : en
Publisher:
Release Date : 2018
Control Planning And Coordination For Dynamic Aerial Manipulation With Robot Teams written by Sarah Yifang Tang and has been published by this book supported file pdf, txt, epub, kindle and other format this book has been release on 2018 with categories.
The rapid and safe transportation of suspended payloads with aerial vehicles is a crucial task across a breadth of industries, from construction to cargo delivery to agriculture to first response. As opposed to carrying payloads that are tightly secured against vehicles' bodies, manipulating payloads via a cable suspension allows the vehicle retain its agility and interact with objects from a distance. This problem has been studied for a variety of unmanned aerial vehicles (UAVs), including fixed-wing, helicopter, and quadrotor systems, in single- and multi-robot contexts. However, past work has focused predominantly on payload stabilization and elimination of the load swing during flight. This strategy is safe, but sub-optimal and overly conservative, and compromises UAVs' agility. In contrast, skilled pilots are able to achieve faster maneuvering by anticipating the effects of and allowing for load swings that naturally arise from the system's dynamics. This work proposes techniques for dynamic manipulation of slung-loads--execution of maneuvers where the payload swings significantly from the vertical orientation--with aerial robots. It begins by addressing the challenge of controlling suspended payloads at large excursions from the vertical configuration. It will then present a trajectory generation algorithm for a single quadrotor carrying a payload through obstacle-filled environments. In allowing the system to exploit its entire range of motion, rapid load transport and, more importantly, navigation of obstacles infeasible for swing-free systems can be achieved. Finally, it will propose a safe, scalable, and complete algorithm that generates trajectories for a multi-robot team in which each agent is transporting a single payload. Robots are coordinated such that they can safely execute simultaneous payload swings.
Omnidirectional Tilt Rotor Flying Robots For Aerial Physical Interaction
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Author : Karen Bodie
language : en
Publisher: Springer Nature
Release Date : 2024-01-21
Omnidirectional Tilt Rotor Flying Robots For Aerial Physical Interaction written by Karen Bodie and has been published by Springer Nature this book supported file pdf, txt, epub, kindle and other format this book has been release on 2024-01-21 with Technology & Engineering categories.
This book deals with the study of tilt-rotor omnidirectional aerial robots and their application to aerial physical interaction tasks. Omnidirectional aerial robots possess decoupled translational and rotational dynamics, which are important for stable and sustained aerial interaction. The additional ability to dynamically re-orient thrust vectors opens the door to a wide array of possible morphologies and system capabilities. Through modeling, control, prototype design, and experimental evaluation, this book presents a comprehensive methodology and examples for the development of a novel tilt-rotor aerial manipulator. This work serves as a guide for envisioning and constructing innovative systems that will advance the frontier of aerial manipulation.
Aerial Manipulation For Indoor Applications
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Author : Robert Mitchell Jones
language : en
Publisher:
Release Date : 2017
Aerial Manipulation For Indoor Applications written by Robert Mitchell Jones and has been published by this book supported file pdf, txt, epub, kindle and other format this book has been release on 2017 with categories.
Autonomous Aerial Manipulation Using A Quadrotor
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Author : Vaibhav Ghadiok
language : en
Publisher:
Release Date : 2011
Autonomous Aerial Manipulation Using A Quadrotor written by Vaibhav Ghadiok and has been published by this book supported file pdf, txt, epub, kindle and other format this book has been release on 2011 with categories.
This paper presents an implementation of autonomous indoor aerial gripping using a low-cost, custom-built quadrotor. Such research extends the typical functionality of micro air vehicles (MAV) from passive observation and sensing to dynamic interaction with the environment. To achieve this, three major challenges are overcome: precise positioning, sensing and manipulation of the object, and stabilization in the presence of disturbance due to interaction with the object. Navigation in both indoor and outdoor unstructured, Global Positioning System-denied (GPS-denied) environments is achieved using a visual Simultaneous Localization and Mapping (SLAM) algorithm that relies on an onboard monocular camera. A secondary camera, capable of detecting infrared light sources, is used to estimate the 3D location of the object, while an underactuated and passively compliant manipulator is designed for effective gripping under uncertainty. The system utilizes nested Proportional-Integral-Derivative (PID) controllers for attitude stabilization, vision-based navigation, and gripping. The quadrotor is therefore able to autonomously navigate, locate, and grasp an object, using only onboard sensors.
Aerial Manipulation For Canopy Sampling
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Author : James Randel Kutia
language : en
Publisher:
Release Date : 2019
Aerial Manipulation For Canopy Sampling written by James Randel Kutia and has been published by this book supported file pdf, txt, epub, kindle and other format this book has been release on 2019 with Drone aircraft categories.
The uptake of unmanned aerial vehicle technology within the forestry industry has accelerated in recent years, addressing remote sensing challenges such as forest yield and health monitoring. Nevertheless, forest management cannot be realised through remote sensing alone; physical canopy branch samples are required to test for diseases, analyse nutrient levels and conduct genetics research. Motivated by the advent of aerial manipulation research, this work proposes physical sampling of canopy branches with an unmanned aerial vehicle. This would replace conventional methods such as tree climbing or firearm dislodgement, which are labour intensive, time consuming and expensive. Development of a novel Canopy Sampling Aerial Manipulator (CSAM) is presented from inception, with design features motivated by unique application-related challenges. A 6 degree-of-freedom manipulator is longitudinally offset from the aircraft centre to avoid rotor wake disturbances to branches and augment end effector reach, facilitating sampling operations from above and beside candidate branches. Cutting and retaining branch samples is achieved with a specialised end effector. Flight control is implemented using dedicated hardware and interfaced with an onboard computer for high-level manipulation tasks. Operations are restricted to a motion capture environment, avoiding onboard perception development to focus on other important aspects of the canopy sampling operation. Aerial manipulator dynamics are modelled and characterised using existing methods, including disturbances imposed by the manipulator movement. This yields accurate simulation of free-flight scenarios to support experimental testing. Physical interaction with branches is a novel aspect of canopy sampling, therefore the model is expanded to consider additional disturbance effects from branch coupling. Comparisons between experimental and simulated flights validate the model and give insights to aircraft station-keeping behaviour during the coupling. Automated branch capture methodology is developed, for stationary and swaying branches. An extended Kalman filter is formulated to estimate branch sway parameters from position measurements. Capture is attempted by the manipulator along the major principal sway direction, while the aircraft undergoes station-keeping. Performance is validated in simulation and experimentally using the motion capture environment, where influences such as station-keeping perturbations and deviations in sway motion are also investigated. This work presents a significant step towards the aim of autonomous canopy sampling, with proposed future work addressing the transition to outdoor operations with implementation of onboard vision.