Cartesian Aerial Manipulator with Compliant Arm

Suárez, Alejandro; Pérez, Manuel Enrique Belloso; Heredia, Guillermo; Ollero, A.

doi:10.3390/app11031001

Cited by 19 publications

(10 citation statements)

References 35 publications

(104 reference statements)

Supporting

Mentioning

Contrasting

Order By: Relevance

“…Flying robots with end-effectors are utilized to apply a force to vertical walls [26,27], inspection [28] and sensor placement [25]. Alejandro et al [29] developed a compliant arm to monitor and control interaction wrench. However, these projects focus on low-speed interactions, while high-speed collisions involve large impact forces and attitude changes.…”

Section: Physical Interactionmentioning

confidence: 99%

Online Search-Based Collision-Inclusive Motion Planning and Control for Impact-Resilient Mobile Robots

Liu

Campbell

et al. 2023

IEEE Trans. Robot.

View full text Add to dashboard Cite

The article develops an impact-resilient aerial robot (s-ARQ) equipped with a compliant arm to sense contacts and reduce collision impact and featuring a real-time contact force estimator and a non-linear motion controller to handle collisions while performing aggressive maneuvers and stabilize from highspeed wall collisions. Further, a new collision-inclusive planning method that aims to prioritize contacts to facilitate aerial robot navigation in cluttered environments is proposed. A range of simulated and physical experiments demonstrate key benefits of the robot and the contact-prioritized (CP) planner. Experimental results show that the compliant robot has only a 4% weight increase but around 40% impact reduction in drop tests and wall collision tests. s-ARQ can handle collisions while performing aggressive maneuvers and stabilize from high-speed wall collisions at 3.0 m/s with a success rate of 100%. Our proposed compliant robot and contact-prioritized planning method can accelerate computation time while having shorter trajectory time and larger clearances compared to A * and RRT * planners with velocity constraints. Online planning tests in partially-known environments further demonstrate the preliminary feasibility of our method to apply in practical use cases.

show abstract

Section: Physical Interactionmentioning

confidence: 99%

Online Search-Based Collision-Inclusive Motion Planning and Control for Impact-Resilient Mobile Robots

Liu

Campbell

et al. 2023

IEEE Trans. Robot.

View full text Add to dashboard Cite

show abstract

“…• Contact force control. Compliance of CRs will reduce the contact impact on position of the aerial platform, yielding better performance with CRs (Suarez et al, 2021).…”

Section: Functionality and Performance Analysis Of Acmssmentioning

confidence: 99%

Aerial Continuum Manipulation: A New Platform for Compliant Aerial Manipulation

Jalali

Janabi–Sharifi

2022

Front. Robot. AI

View full text Add to dashboard Cite

Traditional aerial manipulation systems were usually composed of rigid-link manipulators attached to an aerial platform, arising several rigidity-related issues such as difficulties of reach, compliant motion, adaptability to object’s shape and pose uncertainties, and safety of human-manipulator interactions, especially in unstructured and confined environments. To address these issues, partially compliant manipulators, composed of rigid links and compliant/flexible joints, were proposed; however, they still suffer from insufficient dexterity and maneuverability. In this article, a new set of compliant aerial manipulators is suggested. For this purpose, the concept of aerial continuum manipulation system (ACMS) is introduced, several conceptual configurations are proposed, and the functionalities of ACMSs for different applications are discussed. Then, the performances of proposed aerial manipulators are compared with conventional aerial manipulators by implementing available benchmarks in the literature. To enhance the comparison, new features with related benchmarks are presented and used for evaluation purposes. In this study, the advantages of ACMSs over their rigid-link counterparts are illustrated and the potential applications of ACMSs are suggested. The open problems such as those related to dynamic coupling and control of ACMSs are also highlighted.

show abstract

“…However, when it comes to representing industrial servo-driven machines and their motion automation, many informal representations are used in scientific reports. Examples of applications whose servo axes are only named with text labels drawn on pictures of the machine can be found in [17][18][19].…”

Section: Scientific Literaturementioning

confidence: 99%

A Conceptual Model for Joint Graphic Representation of Mechatronic Systems with Servomechanisms

et al. 2021

View full text Add to dashboard Cite

This article deals with the problem of joint representation of mechanical and motion control information of machines with servo axes. A new conceptual model is proposed for the graphical representation of industrial mechatronic systems covering the minimum information requirements from both mechanical and motion automation points of view. The model also takes into account new electronic motion control concepts such as virtual axes and temporary electronic coordination relationships between axes (e-gears). The objective is to support more integrated and collaborative work between mechanical designers and automation developers when implementing complex machines and industrial mechatronic systems. Schemes graphically representing the relevant common information are obtained from the information model, which may simplify the exchange of information between the mechanical and the motion control fields, not only at conceptualization and design stages, but also throughout the rest of the implementation process of industrial mechatronic systems.

show abstract

Cartesian Aerial Manipulator with Compliant Arm

Cited by 19 publications

References 35 publications

Online Search-Based Collision-Inclusive Motion Planning and Control for Impact-Resilient Mobile Robots

Online Search-Based Collision-Inclusive Motion Planning and Control for Impact-Resilient Mobile Robots

Aerial Continuum Manipulation: A New Platform for Compliant Aerial Manipulation

A Conceptual Model for Joint Graphic Representation of Mechatronic Systems with Servomechanisms

Contact Info

Product

Resources

About