Abstract
In this paper, a novel aerial manipulation paradigm, namely an aerial continuum manipulation system (ACMS) is introduced. The proposed system is distinct from the conventional aerial manipulation systems (AMSs) in the sense that instead of conventional rigid-link arms a continuum robotic arm is used. Such an integration will enable the benefits of continuum arms especially in cluttered and less structured environments. Despite promising advantages, modeling and control of ACMS involve several challenges. The paper presents decoupled dynamic modeling of ACMS arm using the modified Cosserat rod theory. To deal with the problem of complexity and high level of modeling uncertainties, a robust adaptive control approach is proposed for the position control of ACMS and its stability is proven using Lyapunov stability theorem. Finally, the effectiveness of the proposed scheme is validated in a simulated environment.
Highlights
Interest in aerial robotic systems (ARSs) has substantially grown among the researchers, the industry, and the public during the last decade
We propose a new platform for aerial manipulation systems (AMSs) by replacing conventional arms with continuum robots (CRs), initiating an aerial continuum manipulation system (ACMS) paradigm
Similar to the controlled continuum robot in [35]–[37], the lightweight CR with small cross-section is considered for simulation studies
Summary
L m continuum arm length t s time p m Global position vector in Cartesian coordinates prel m the relative position of each section with respect to the quadrotor center of gravity f quad N the UAV motion effect on CR. N Internal force vector in the global frame m Nm Internal moment vector in the global frame f. - Rate of change of position with respect to arclength in the local frame u 1/m Curvature vector in the local frame q m/s Velocity vector in the local frame. Bbt Nm2s f tendon ltendon Nm i ci di y misc
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