Model-Based Motion Control of a Robotic Manipulator With a Flying Multirotor Base

Jafarinasab, Mohammad; Sirouspour, Shahin; Dyer, Eric

doi:10.1109/tmech.2019.2936760

Cited by 37 publications

(7 citation statements)

References 25 publications

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“…We derived the equations of motion for a finite number of rigid links. The Newton-Euler (Guo et al, 2018) and Lagrangian methods (Jafarinasab, Sirouspour and Dyer, 2019) are commonly used to derive the equations of motion. The configured wire model consisted of over 100 rigid links.…”

Section: Equation Of Motionmentioning

confidence: 99%

Bi-rigid guide wire enables endoscope insertion into winding small gas pipelines

Miura¹,

Nakagami

Parque

et al. 2020

Mechanical Engineering Journal

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Bi-rigid guide wire enables endoscope insertion into winding small gas pipelines 1. Introduction Pipelines are indispensable for supplying resources to cities and homes (Takeshima and Takayama, 2018; Y. Li et al., 2019). In Japan, the underground gas pipeline extends for more than 1.5 billion km (Gas Pipe Overview, 2018). Generally, gas is sent through main pipes under the public road and branches into external gas pipes at residential sites (Fig. 1). The main pipes are of size "50A" (diameter: 52.9 mm), whereas the external gas pipes are of size "25A" (diameter: 27.6 mm) (Gas Pipe Overview, 2018). External gas pipes have four sets of two turns consisting of a bend and an elbow (Gas Pipe Overview, 2018). The total length of an external pipe is about 7.0 m. Because these pipes are installed underground, they are not being maintained. Therefore, corrosion often appears inside the pipes as they age (Cole and Marney, 2012). The most widespread method of inspecting the interior of a gas pipe is visual inspection using an endoscope. One example is using a flexible microscope, as shown in Fig. 2. The operator uses the hand console to manipulate the tip with the microscope camera. However, it is impossible to insert a microscope into a buried pipe because the microscope buckles and stops in the pipe. Thus, when an accident occurs at an external gas pipeline, the buried pipes are dug up randomly until the staff finds the causes. This requires stopping the gas flow and digging up the branch pipe extending from the load (Ogai and Bhattacharya, 2018). The entire process takes more than 1 day, and the gas cannot be used while the pipes are being inspected. Furthermore, digging up and refilling the load has a high cost, which includes personal expenditure and catering (Cole and Marney, 2012).

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Section: Equation Of Motionmentioning

confidence: 99%

Bi-rigid guide wire enables endoscope insertion into winding small gas pipelines

Miura¹,

Nakagami

Parque

et al. 2020

Mechanical Engineering Journal

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“…A nonredundant quadrotor manipulation system, in which a two degrees-of-freedom (DOF) robotic arm is attached to the bottom center of a quadrotor, is designed to perform pick-and-place missions in [10]. Redundant multi-DOF systems have been experimentally verified by indoor motion tracking and outdoor grasping operations, and have been applied to pick-and-place, insertion, and valve turning tasks in [11]- [14]. On the other hand, through physical interaction with the objective environment, aerial manipulators are available for industrial applications such as inspecting bridges and painting [15], [16].…”

Section: Introductionmentioning

confidence: 99%

Modeling and Control of a Quadrotor UAV Equipped With a Flexible Arm in Vertical Plane

et al. 2021

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In the field of unmanned aerial vehicles (UAVs), aerial manipulations are receiving considerable attention because of their potential application to tasks such as pick and place, detection, and inspection. However, short flight endurance times and concerns about the safety to surroundings during interacting heavily limit the expansion of aerial manipulations in real implementations. To overcome these challenges, this paper focuses on a system in which a quadrotor UAV is equipped with a lightweight and flexible arm. Based on the infinite-dimensional dynamics, the mathematic model of system is described by a hybrid partial differential equation-ordinary differential equation (PDE-ODE). An easily implementable controller is derived from a Lyapunov functional construction related to the energy of the system. The proposed controller ensures global Lyapunov stability for nonlinear system and local asymptotic stability for the linearized system. Further, it is shown that the proposed controller realizes stable motion of the aerial manipulator as well as vibration control of the flexible arm. Finally, numerical simulations are conducted to investigate the validity of the proposed controller.

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“…Robotic manipulators have been widely utilized in industrial applications such as manufacturing industry, aerospace, and military equipment [1][2][3][4][5][6][7][8][9]. Nevertheless, the nonlinear terms include the nonlinear friction, model uncertainties, and dead zone that can reduce the control accuracy.…”

Section: Introductionmentioning

confidence: 99%

Adaptive Predefined Performance Neural Control for Robotic Manipulators with Unknown Dead Zone

Shao

Zhang

et al. 2020

Mathematical Problems in Engineering

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This paper proposes an adaptive predefined performance neural control scheme for robotic manipulators in the presence of nonlinear dead zone. A neural network (NN) is utilized to estimate the model uncertainties and unknown dynamics. An improved funnel function is designed to guarantee the transient behavior of the tracking error. The proposed funnel function can release the assumption on the conventional funnel control. Then, an adaptive predefined performance neural controller is proposed for robotic manipulators, while the tracking errors fall within a prescribed funnel boundary. The closed-loop system stability is proved via Lyapunov function. Finally, the numerical simulation results based on a 2-DOF robotic manipulator illustrate the control effect of the presented approach.

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Model-Based Motion Control of a Robotic Manipulator With a Flying Multirotor Base

Cited by 37 publications

References 25 publications

Bi-rigid guide wire enables endoscope insertion into winding small gas pipelines

Bi-rigid guide wire enables endoscope insertion into winding small gas pipelines

Modeling and Control of a Quadrotor UAV Equipped With a Flexible Arm in Vertical Plane

Adaptive Predefined Performance Neural Control for Robotic Manipulators with Unknown Dead Zone

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