Abstract
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.
Highlights
Aerial manipulations systems (AMSs) have drawn significant attention due to their numerous applications ranging from inspection and maintenance to structure assembly [1,2].In particular, aerial manipulation brings several advantages over ground-based manipulation such as mobility, access and reachability [3]
The Aerial continuum manipulation systems (ACMSs) model and control are implemented in MATLAB 2020a, while sampling time is chosen as 0.01 s and a
This paper presents the first coupled dynamic modeling for aerial continuum manipulation systems (ACMSs), which considers both unmanned aerial vehicles (UAVs) and the continuum arm as a unified system
Summary
Aerial manipulations systems (AMSs) have drawn significant attention due to their numerous applications ranging from inspection and maintenance to structure assembly [1,2]. Our previous published paper on decoupled modeling and control of ACMS [20] was based on Cosserat rod theory This method can be considered as an accurate modeling approach for continuum robots, it is computationally expensive because it needs an iterative solver to satisfy the robot’s boundary conditions at each iteration of the program. To solve this limitation and to provide a more accurate and general dynamic model, here we consider coupled modelling of ACMS with a multi-rotor-based platform Another limitation of the previous work relates to the type of UAV used in modeling. These multi rotors with parallel thrusts cannot independently control for rigid robotic arms, are highly nonlinear, coupled and complex.
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