Abstract
To address the challenge of precise, dynamic and versatile aerial manipulation, we present an aerial manipulation platform consisting of a parallel 3-DOF manipulator mounted to an omnidirectional tilt-rotor aerial vehicle. The general modeling of a parallel manipulator on an omnidirectional floating base is presented, which motivates the optimization and detailed design of the aerial manipulator parameters and components. Inverse kinematic control of the manipulator is coupled to the omnidirectional base pose controller with a dynamic compensation term, going beyond common decoupled approaches. This presents a baseline for the control of redundant omnidirectional aerial manipulators. Experimental flights show the advantages of an active manipulator vs. a fixed arm for disturbance rejection and end effector tracking performance, as well as the practical limitations of the dynamic compensation term for fast end effector trajectories. The results motivate future studies for precise and dynamic aerial manipulation.
Highlights
A ERIAL manipulators have a strong practical appeal in research and industry for their promise to extend dextrous interaction to an unbounded workspace [1].The addition of a robotic arm to a flying robot increases the overall number of degrees of freedom (DOF) of the system, allowing for tasks that are otherwise impossible
To fill the mentioned gaps, we propose a novel aerial manipulator consisting in an omnidirectional tilt-rotor flying base equipped with a 3 DOF parallel manipulator
To show the benefits of the delta manipulator for dynamic end effector trajectory tracking with high precision, we consider the case in which the desired trajectories for the end effector position, W pdE(t), and the flying base position and attitude, W pdB(t) and W RdB(t) are given.aUrmndaecrttihoenseshcoounldditmioinnsi:mize the end effector position r error given the current pose of the base; the flying base action should minimize its own position and attitude2 errors
Summary
A ERIAL manipulators have a strong practical appeal in research and industry for their promise to extend dextrous interaction to an unbounded workspace [1]. The recent development of multi- and omnidirectional thrust aerial robots that are fully-actuated (able to control both their position and orientation) permits shifting some of the required DOF to the floating base [2]–[4] This further enables 6D end effector trajectory tracking, and interaction with the environment via a static arm [5]–[7]. In this letter we go beyond the state of the art, aiming at dynamic and precise end effector motion in the full 6D space To this end, we present a novel design, modeling and control of an omnidirectional aerial parallel manipulator.
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