Abstract
In this paper an aerial robotic system with two arms for long reach manipulation (ARS-LRM) while flying is presented. The system consists of a multirotor with a long bar extension that incorporates a lightweight dual arm in the tip. This configuration allows aerial manipulation tasks increasing considerably the safety distance between rotors and manipulated objects. The objective of this work is the development of planning strategies to move the ARS-LRM system for both navigation and manipulation tasks. With this purpose, a simulation environment to evaluate the algorithms under consideration is required. Consequently, the ARS-LRM dynamics has been properly modeled with specific methodologies for multi-body systems. Then, a distributed control scheme that makes use of nonlinear control strategies based on model inversion has been derived to complete the testbed. The motion planning problem is addressed considering jointly the aerial platform and the dual arm in order to achieve wider and safer operating conditions. The operation of the planner is given by an RRT∗-based algorithm that optimizes energy and time performance in cluttered environments for both navigation and manipulation tasks. This motion planning strategy has been tested in a realistic industrial scenario given by a riveting task. The satisfactory results of the simulations are presented as a first validation of the proposed approach.
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