Vision-based reduced-order adaptive control of aerial continuum manipulation systems

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

doi:10.1016/j.ast.2021.107322

Cited by 9 publications

(9 citation statements)

References 23 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%

“…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%

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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: Perspectives On Caams Researchmentioning

confidence: 99%

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

Uthayasooriyan,

Vanegas,

Jalali

et al. 2024

Drones

Self Cite

View full text Add to dashboard Cite

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“…2022 [103][104][105][106][107][108][109] Micro-manipulation on cells [103]; Collision-free navigation [104]; Highly nonlinear continuum manipulation [105]; Complexity of RL in broad range of robotic manipulation task [106]; Uncertainty in DNN-based prediction for robotic grasping [107]; Path planning for a robotic arm in a 3D workspace [108]; Object tracking and control of a robotic arm in real-time [109].…”

Section: Year Addressed Problems Contributions Outcomesmentioning

confidence: 99%

“…Path planning for magnetic micro-robots [103]; Neural radiance fields (NeRFs) for navigation in 3D environment [104]; Aerial continuum manipulation systems (ACMSs) [105]; Attention-driven robotic manipulation [106]; Robotic grabbing in distorted RGB-D data [107]; Real-time path generation with lower computational cost [108]; Real-time object tracking with reduced stress load and a high rate of success. [109].…”

Section: Year Addressed Problems Contributions Outcomesmentioning

confidence: 99%

A Comprehensive Review of Vision-Based Robotic Applications: Current State, Components, Approaches, Barriers, and Potential Solutions

et al. 2022

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Being an emerging technology, robotic manipulation has encountered tremendous advancements due to technological developments starting from using sensors to artificial intelligence. Over the decades, robotic manipulation has advanced in terms of the versatility and flexibility of mobile robot platforms. Thus, robots are now capable of interacting with the world around them. To interact with the real world, robots require various sensory inputs from their surroundings, and the use of vision is rapidly increasing nowadays, as vision is unquestionably a rich source of information for a robotic system. In recent years, robotic manipulators have made significant progress towards achieving human-like abilities. There is still a large gap between human and robot dexterity, especially when it comes to executing complex and long-lasting manipulations. This paper comprehensively investigates the state-of-the-art development of vision-based robotic application, which includes the current state, components, and approaches used along with the algorithms with respect to the control and application of robots. Furthermore, a comprehensive analysis of those vision-based applied algorithms, their effectiveness, and their complexity has been enlightened here. To conclude, there is a discussion over the constraints while performing the research and potential solutions to develop a robust and accurate vision-based robot manipulation.

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“…Although the quadrotor UAV has advantages in inspection, patrol, remote sensing, and other applications, it is greatly limited in contact, transportation, grab, and other functions. In order to expand the capability of the quadrotor UAV and enable its interaction with the environment, the use of aerial manipulation via the combination of a multi-rotor UAV and a manipulator has emerged as the times require [1][2][3]. Today, aerial manipulation can carry out transportation work and reduce the contact between people.…”

Section: Introductionmentioning

confidence: 99%

Adaptive Nonsingular Fast Terminal Sliding Mode Control of Aerial Manipulation Based on Nonlinear Disturbance Observer

Wei-hong

Cao

Peng

et al. 2023

Drones

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Aimed at resolving the trajectory tracking control problem of aerial manipulation, this paper presents an aerial manipulation system that consists of a quadrotor unmanned aerial vehicle (UAV) and a two-degree-of-freedom manipulator. The system adopted an integrated control strategy; that is, the rotor UAV and the manipulator were considered as a whole, the coupling effect was treated as an internal factor, and the whole was taken as the research object to establish a dynamic model. Then, by combining the nonsingular fast terminal sliding mode controller with the adaptive controller, an adaptive nonsingular fast terminal sliding mode controller was designed. A composite control rate based on the nonlinear disturbance observer and the adaptive nonsingular fast terminal sliding mode was determined in order to compensate for the external disturbance and the internal modeling error of the system as well as to ensure its rapid convergence. Finally, the different control methods were simulated by setting the operational tasks. The simulation results show that the proposed control method is effective.

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Vision-based reduced-order adaptive control of aerial continuum manipulation systems

Cited by 9 publications

References 23 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

A Comprehensive Review of Vision-Based Robotic Applications: Current State, Components, Approaches, Barriers, and Potential Solutions

Adaptive Nonsingular Fast Terminal Sliding Mode Control of Aerial Manipulation Based on Nonlinear Disturbance Observer

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