A Compact Aerial Manipulator: Design and Control for Dexterous Operations
-
Published:2024-04-26
Issue:2
Volume:110
Page:
-
ISSN:1573-0409
-
Container-title:Journal of Intelligent & Robotic Systems
-
language:en
-
Short-container-title:J Intell Robot Syst
Author:
Liu QianyuanORCID, Liu YuhangORCID, Chen ZeshuaiORCID, Guo KexinORCID, Yu XiangORCID, Zhang YouminORCID, Guo LeiORCID
Abstract
AbstractThe lack of aerial physical interaction capability is one of the choke points limiting the extension of aerial robot applications, such as rescue missions and aerial maintenance. We present a new aerial robotic manipulator (AEROM) for aerial dexterous operations in this work. It contains a robotic manipulator with 6-degree-of-freedom and a compact flight platform. Firstly, we propose a quantitative capability index to evaluate and guide the mechanical design of the AEROM. Based on the proposed quantitative index, we construct a lightweight bird-inspired manipulator to imitate a raptor hindlimb. An additional telescopic joint and an end-effector consisting of three soft fingers allow the AEROM to execute aerial interaction tasks. In addition, the wrist joints enable independent control of the end-effector attitude regardless of the flight platform. After explicitly analyzing the multi-source disturbances during the aerial operation tasks, we develop a refined anti-disturbance controller to compensate for the disturbances with different characteristics. The proposed controller further improves the position accuracy of end-effector to enable dexterous operations during aerial interaction tasks. Finally, the physical experiments verify the effectiveness of the proposed AEROM system.
Funder
Major State Basic Research Development Program of China Major Science and Technology Innovation Program of Hangzhou National Natural Science Foundation of China Defense Industrial Technology Development Program
Publisher
Springer Science and Business Media LLC
Reference38 articles.
1. Ollero, A., Tognon, M., Suarez, A., Lee, D., Franchi, A.: Past, present, and future of aerial robotic manipulators. IEEE Trans. Rob. 38(1), 626–645 (2022). https://doi.org/10.1109/TRO.2021.3084395 2. Hamaza, S., Georgilas, I., Fernandez, M., Sanchez, P., Richardson, T., Heredia, G., Ollero, A.: Sensor installation and retrieval operations using an unmanned aerial manipulator. IEEE Robot. Autom. Lett. 4(3), 2793–2800 (2019). https://doi.org/10.1109/LRA.2019.2918448 3. Li, L., Zhang, T., Zhong, H., Li, H., Zhang, H., Fan, S., Cao, Y.: Autonomous removing foreign objects for power transmission line by using a vision-guided unmanned aerial manipulator. J. Intell. Robot. Syst. 103, 1–14 (2021). https://doi.org/10.1007/s10846-021-01482-3 4. Ollero, A., Heredia, G., Franchi, A., Antonelli, G., Kondak, K., Sanfeliu, A., Viguria, A., Martinez-de Dios, J.R., Pierri, F., Cortes, J., Santamaria-Navarro, A., Trujillo Soto, M.A., Balachandran, R., Andrade-Cetto, J., Rodriguez, A.: The AEROARMS project: Aerial robots with advanced manipulation capabilities for inspection and maintenance. IEEE Robot. Autom. Mag. 25(4), 12–23 (2018). https://doi.org/10.1109/MRA.2018.2852789 5. Jimenez-Cano, A.E., Sanchez-Cuevas, P.J., Grau, P., Ollero, A., Heredia, G.: Contact-based bridge inspection multirotors: Design, modeling, and control considering the ceiling effect. IEEE Robot. Autom. Lett. 4(4), 3561–3568 (2019). https://doi.org/10.1109/LRA.2019.2928206
|
|