Mechanics, control and internal dynamics of quadrotor tool operation

Nguyen, Hai-Nguyen; Ha, Changsu; Lee, Dongjun

doi:10.1016/j.automatica.2015.08.015

Cited by 55 publications

(28 citation statements)

References 29 publications

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“…A further issue arising during the mechanical assembly of an FH is where to place the gripper on the UAV. Regarding the quadrotor, the rigid tool should be positioned above and not below the aerial vehicle [50]. However, although this solution is to be preferred from a theoretical point of view for the internal stabilization of the FH, it raises some problems in practical applications where it would be difficult for an FH to grasp an object by approaching it from below.…”

Section: Flying Handsmentioning

confidence: 99%

Aerial Manipulation: A Literature Review

Ruggiero

Lippiello

Ollero

2018

IEEE Robot. Autom. Lett.

394

275

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Aerial manipulation aims at combining the versatility and the agility of some aerial platforms with the manipulation capabilities of robotic arms. This letter tries to collect the results reached by the research community so far within the field of aerial manipulation, especially from the technological and control point of view. A brief literature review of general aerial robotics and space manipulation is carried out as well.

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Section: Flying Handsmentioning

confidence: 99%

Aerial Manipulation: A Literature Review

Ruggiero

Lippiello

Ollero

2018

IEEE Robot. Autom. Lett.

394

275

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“…In this circumstance, relative larger forces, such as Coriolis and centrifugal force, will be act on the connected base as well as the RAR body simultaneously. The same phenomenon also appears in the operation in touch with external environment [16] . Hence, an additional six-axis force sensor is installed between the manipulator base and the RAR body to measure these time-varying forces, shown in Fig.3.…”

Section:  Six Axis Force/torque Sensormentioning

confidence: 68%

Design and implementation of rotor aerial manipulator system

Meng

et al. 2016

2016 IEEE International Conference on Robotics and Biomimetics (ROBIO)

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Abstract-With the development of rotor aerial robot, it has been widely used as a stabilized flying platform to achieve observation, communication relay and so on by equipping corresponding equipment, which are always called passive tasks. However, many applications need rotor aerial robots to possess more active capability, such as grasp, carry and assemblage. Thus, the demand for an aerial manipulation system gradually appears, and becomes a hot research issue in recent years. Aerial manipulator system, usually composed of rotor aerial robot and the manipulator, is a new type of robot system with active operating capability. Compared with the mobile manipulator based on the ground and underwater mobile robot which is now widely applied, the aerial manipulation has lager working range and better flexibility obviously. Unfortunately, the new aerial manipulation system also brings new challenges, such as strong dynamics coupling, the modeling and stabilization problem, etc. which may affect its further application. Thus, in our work, an actual physical aerial manipulator system is designed and implemented for its system and application research. Based on the system, the preliminary modeling and control was researched and also an experiment for grasping and carry application is conducted. The conclusions of these researches will help us to realize and improve the system in the future. I. INTRODUCTIONRotor aerial robots (RAR) have played an important role in anti-terrorist, disaster assistance, reconnaissance and surveillance for civil and military applications during past decades. They have lots of distinctive features, including low altitude flight and stable hover which are the basis of the above applications. Generally, the applications of RAR focused on some passive tasks like information collection, communication relay, etc. With the task and environment getting more and more complex, many applications need RAR to possess more active capabilities such as grasp, carry and assemblage. Especially, traditional mobile manipulators composed of manipulator and ground, underwater even space robots have been verified and successfully used in many applications. Inspired by this, rotor aerial manipulator system (RAMS) composed of a RAR and a manipulator becomes a research trend that has recently received great attention. Obviously, this combination will greatly increase

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“…concluded that the CG should lie close to, but slightly above the propeller plane for the best disturbance rejection [18]. This preference is further supported in [19], which stated that quadcopters under a proportional-integral-derivative (PID) controller are more stable when the load is placed directly on top of the airframe, especially for robotic payload carrying tasks [20]. Moreover, the PID controller can handle CG offset from the yaw axis more easily by when the CG is placed above the propeller plane.…”

Section: Conflicting Constraints Of Cg Location and Efficient Aermentioning

confidence: 91%

Downside Up:Rethinking Parcel Position for Aerial Delivery

Kornatowski

Feroskhan

Stewart

et al. 2020

IEEE Robot. Autom. Lett.

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The conventional approach to parcel placement in most delivery drone designs today is to place the parcel centrally beneath the drone's rotor plane. However, if the parcel is too large, this will result in an obstruction of the propeller slipstream, incurring significant drag. As such, the parcel's location below the rotor plane limits the size of parcels that can be delivered, specifically super-sized parcels that protrude beyond the bounds of the four rotors. Delivering these large parcels requires bigger drone platforms, which consequently consume more energy, necessitate large storage spaces, and are less portable. In this letter, we propose an alternative approach, placing the parcel above the rotor plane. However, placing a parcel above a quadcopter encounters two main challenges. The first is the optimal position of the CG to maintain stability of the drone. Second is the aerodynamic influence on the lift of the drone with a parcel is placed above the propellers. To address these challenges, aerodynamic characterization experiments were performed and a new drone design was proposed. This letter presents a prototype quadcopter design solution that places the parcel above the propellers to enable delivery of super-sized parcels, as well as a compact rotor design configuration for lower storage cost and increased portability. The new approach of placing an over-sized parcel above propellers provides the 82% increase in thrust over putting the parcel below the propellers.

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Mechanics, control and internal dynamics of quadrotor tool operation

Cited by 55 publications

References 29 publications

Aerial Manipulation: A Literature Review

Aerial Manipulation: A Literature Review

Design and implementation of rotor aerial manipulator system

Downside Up:Rethinking Parcel Position for Aerial Delivery

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