Dual-arm aerial continuum manipulation systems: modeling, pre-grasp planning, and control

Ghorbani, Shahab; Samadikhoshkho, Zahra; Janabi–Sharifi, Farrokh

doi:10.1007/s11071-022-08212-w

Cited by 6 publications

(5 citation statements)

References 35 publications

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“…The Figure 1 depicts a CAD model of a CAAMS with a TDCR. There have been notable endeavours to harness the potential of continuum manipulators for aerial manipulation tasks [31,[38][39][40][41][42][43][44][45][46][47][48]. These works are discussed under the Section 2.…”

Section: Overview Of Continuum Arm Aerial Manipulation System (Caams)mentioning

confidence: 99%

“…Conversely, in another work, considering the UAV and the CM together as a single system, modelling and control simulation were performed using the Euler-Lagrange theorem [16]. A CAAMS featuring two continuum robotic arms has been proposed, encompassing modelling, pre-grasp planning, and control [42], aimed at enhancing load handling capacity, stiffness, and compliance. This research used Euler-Lagrange method for modelling and experimented the developed control and planning strategies through simulation.…”

Section: Continuum Arm Aerial Manipulation Systems (Caams)mentioning

confidence: 99%

“…Essentially, the modelling, control, navigation, and path following capabilities of a CM attached to a floating body (UAV) is highly challenging. The modelling and control problem can be even more challenging when the CAAMS needs to have coupled dynamics operation with a multi-CM installed, which is a highly non-linear problem [42], or when tasked to perform collaborative operation between multiple CAAMSs [31]. There are various control methods of CAAMSs attempted in simulation, including vision-based control [48] for coupled dynamics system with uncertainties, hybrid feedback control [47], and PID-SMC [42].…”

Section: Perspectives On Caams Researchmentioning

confidence: 99%

“…The modelling and control problem can be even more challenging when the CAAMS needs to have coupled dynamics operation with a multi-CM installed, which is a highly non-linear problem [42], or when tasked to perform collaborative operation between multiple CAAMSs [31]. There are various control methods of CAAMSs attempted in simulation, including vision-based control [48] for coupled dynamics system with uncertainties, hybrid feedback control [47], and PID-SMC [42]. Employing methods involving machine learning and artificial intelligence techniques may benefit to bypass complex modelling and solve challenges [42].…”

Section: Perspectives On Caams Researchmentioning

confidence: 99%

“…There are various control methods of CAAMSs attempted in simulation, including vision-based control [48] for coupled dynamics system with uncertainties, hybrid feedback control [47], and PID-SMC [42]. Employing methods involving machine learning and artificial intelligence techniques may benefit to bypass complex modelling and solve challenges [42]. However, consideration should be given to how feasible a control strategy is to implement a CAAMS for real-time operation.…”

Section: Perspectives On Caams Researchmentioning

confidence: 99%

See 4 more Smart Citations

Tendon-Driven Continuum Robots for Aerial Manipulation—A Survey of Fabrication Methods

Uthayasooriyan,

Vanegas,

Jalali

et al. 2024

Drones

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Aerial manipulators have seen a rapid uptake for multiple applications, including inspection tasks and aerial robot–human interaction in building and construction. Whilst single degree of freedom (DoF) and multiple DoF rigid link manipulators (RLMs) have been extensively discussed in the aerial manipulation literature, continuum manipulators (CMs), often referred to as continuum robots (CRs), have not received the same attention. This survey seeks to summarise the existing works on continuum manipulator-based aerial manipulation research and the most prevalent designs of continuous backbone tendon-driven continuum robots (TDCRs) and multi-link backbone TDCRs, thereby providing a structured set of guidelines for fabricating continuum robots for aerial manipulation. With a history spanning over three decades, dominated by medical applications, CRs are now increasingly being used in other domains like industrial machinery and system inspection, also gaining popularity in aerial manipulation. Fuelled by diverse applications and their associated challenges, researchers have proposed a plethora of design solutions, primarily falling within the realms of concentric tube (CT) designs or tendon-driven designs. Leveraging research works published in the past decade, we place emphasis on the preparation of backbones, support structures, tendons, stiffness control, test procedures, and error considerations. We also present our perspectives and recommendations addressing essential design and fabrication aspects of TDCRs in the context of aerial manipulation, and provide valuable guidance for future research and development endeavours in this dynamic field.

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Section: Overview Of Continuum Arm Aerial Manipulation System (Caams)mentioning

confidence: 99%

Section: Continuum Arm Aerial Manipulation Systems (Caams)mentioning

confidence: 99%

Section: Perspectives On Caams Researchmentioning

confidence: 99%

Section: Perspectives On Caams Researchmentioning

confidence: 99%

Section: Perspectives On Caams Researchmentioning

confidence: 99%

See 3 more Smart Citations

Tendon-Driven Continuum Robots for Aerial Manipulation—A Survey of Fabrication Methods

Uthayasooriyan,

Vanegas,

Jalali

et al. 2024

Drones

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Model-free adaptive trajectory tracking control of robotic manipulators with practical prescribed-time performance

Huang,

Dong,

Yang

et al. 2023

Nonlinear Dyn

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Considering accurate model information of robotic manipulators is hard to obtain in real applications, this article proposes a model-free trajectory tracking control scheme for the robotic system with input saturation, where a pre-defined tracking precision within prescribed time under any initial conditions is ensured. Firstly, to avoid a sharp corner when control input exceeds constraint, a new smooth function is used to approximate the saturated control torque and then a new robotic system model is built. Based on the rebuilt system, a time-delay estimation (TDE) method is used to estimate the lumped uncertainty containing unknown dynamics and external disturbance. Furthermore, a model-free adaptive controller is developed to ensure the tracking error converge to a preset small residual within given time, where adaptive law and auxiliary system are used to cope with the TED estimation error and control input saturation, respectively. With the developed practical prescribed-time function, there is no constraint on the initial value of the tracking error, thus global stability is guaranteed. Finally, a planar two-link robotic manipulator is simulated to show the effectiveness of the developed control scheme.

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A combined kinodynamic motion planning method for multisegment continuum manipulators in confined spaces

Yang,

Peng,

et al. 2023

Nonlinear Dyn

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Dual-arm aerial continuum manipulation systems: modeling, pre-grasp planning, and control

Cited by 6 publications

References 35 publications

Tendon-Driven Continuum Robots for Aerial Manipulation—A Survey of Fabrication Methods

Tendon-Driven Continuum Robots for Aerial Manipulation—A Survey of Fabrication Methods

Model-free adaptive trajectory tracking control of robotic manipulators with practical prescribed-time performance

A combined kinodynamic motion planning method for multisegment continuum manipulators in confined spaces

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