Valve turning using a dual-arm aerial manipulator

Orsag, Matko; Korpela, Christopher; Bogdan, Stjepan; Oh, Paul

doi:10.1109/icuas.2014.6842330

Cited by 97 publications

(71 citation statements)

References 16 publications

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“…Pick-and-place tasks have been performed in [11], [12], where the gripper is made up by a task-specific structure with few DoFs. In [13] the grasping problem with a 3-DoF planar robot manipulator actuated by servomotors has been presented, while in [14] a UAV equipped with two robotic arms executes the task of closing a valve. A helicopter has been endowed with an industrial manipulator in [15], where by using visual measurement and an impedance control law the grasping of a bar has been executed.…”

Section: Introductionmentioning

confidence: 99%

Design, modeling and control of a 5-DoF light-weight robot arm for aerial manipulation

Bellicoso

Buonocore

Lippiello

et al. 2015

2015 23rd Mediterranean Conference on Control and Automation (MED)

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The design, modeling and control of a 5 degreesof-freedom light-weight robot manipulator is presented in this paper. The proposed robot arm, named Prisma Ultra-Lightweight 5 ARm (PUL5AR), is employed to execute manipulation tasks equipped on board of a vertical take-off and landing unmanned aerial vehicle. The arm is compact and light-weight. Its mechanics is designed such that it can fold on itself during landing manoeuvres. Moreover, the design is conceived to constrain the center of gravity of the arm as close as possible to vehicle base, thus reducing the total inertia and static unbalancing of the system. Experimental tests have been carried out in order to validate the dynamic model, the communication library, the developed electronics, and the control schemes implemented for the designed robot arm.Index Terms-Aerial manipulation, light-weight robot arm, robot arm design.

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Section: Introductionmentioning

confidence: 99%

Design, modeling and control of a 5-DoF light-weight robot arm for aerial manipulation

Bellicoso

Buonocore

Lippiello

et al. 2015

2015 23rd Mediterranean Conference on Control and Automation (MED)

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“…The original purpose of such a combination was to extend the mission domains of UAVs from reconnaissance and surveillance to the interaction with the environment. Since vertical takeoff and landing (VTOL) UAVs are much more flexible and more suitable for such kind of aerial manipulation operations, the popularly developed aerial manipulation test platforms all belong to the VTOL UAVs' category such as unmanned quadrotor [1], [2], [3], ducted-fan UAV [4], [14], and unmanned helicopter (UH) [5], [10], [11].…”

Section: Introductionmentioning

confidence: 99%

“…In the flight test, a great prospect of UAVs for flight assembling was demonstrated, even though the load capability of the quadrotor is quite limited. A valve turning mission was conducted by Matko Orsag [2] using a quadrotor, the quadrotor was equipped with a two degrees of freedom manipulator, a control scheme was proposed to tackle the coupling with *This work was supported by and National Natural Science Foundation of China (Project 61433016 and 61273025) 1 the environment, along with a human machine interface. A flight test was finished to demonstrate the effectiveness of the whole system.…”

Section: Introductionmentioning

confidence: 99%

Development of an unmanned helicopter automatic barrels transportation system

Song

et al. 2015

2015 IEEE International Conference on Robotics and Automation (ICRA)

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In the 2nd International Unmanned Aerial Vehicle (UAV) Innovation Grand Prix (UAVGP) sponsored by Aviation Industry Corporation of China (AVIC), an autonomous barrel transportation mission was proposed for Rotary-wing UAV (RUAV) which aims at validating the feasibility of marine vertical replenishment by RUAVs. The RUAV was supposed to track the movable platform, pick up barrels on the supplier platform, stack barrels on the replenishment platform, take off and land autonomously without any human interference. The final score was determined based on the mission completion time and the stacking accuracy. The main challenges involved in this mission include attitude stabilizing with varying payload, accurate movable platform tracking and task-scheduling. An unmanned helicopter (UH) automatic barrels transportation system was established by our team, and the navigation system, control system and task scheduling system will be detailed in this paper, along with the flight tests before and in the competition. The system's performance has been verified in the competition and won the first prize finally.

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“…which allows it to execute the task. Examples of this research are: an Asctec Pelican quadrotor endowed with a custommade manipulator for contact inspection [6], an aerial vehicle along with a couple of robotic arms for turning a valve using a human-machine interface [7] and a ductedfan aerial vehicle for ultrasonic nondestructive structural inspection [8].…”

Section: Introductionmentioning

confidence: 99%

Aerial pruning mechanism, initial real environment test

Molina¹,

Hirai²

2017

2017 IEEE International Conference on Real-Time Computing and Robotics (RCAR)

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In this research, a pruning mechanism for aerial pruning tasks is tested in a real environment. Since the final goal of the aerial pruning robot will be to prune tree branches close to power lines, some experiments related to wireless communication and pruning performance were conducted. The experiments consisted of testing the communication between two XBee RF modules for monitoring purposes as well as testing the speed control of the circular saw used for pruning tree branches. Results show that both the monitoring and the pruning tasks were successfully done in a real environment.

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Valve turning using a dual-arm aerial manipulator

Cited by 97 publications

References 16 publications

Design, modeling and control of a 5-DoF light-weight robot arm for aerial manipulation

Design, modeling and control of a 5-DoF light-weight robot arm for aerial manipulation

Development of an unmanned helicopter automatic barrels transportation system

Aerial pruning mechanism, initial real environment test

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