Image-Based Control for Aerial Manipulation

2014 ◽  
Vol 16 (3) ◽  
pp. 646-656 ◽  
Author(s):  
Rafik Mebarki ◽  
Vincenzo Lippiello
Keyword(s):  
Aerial Manipulation

Control of an Aerial Manipulator With an On-Board Balancing Mechanism

2016 ◽  
Author(s):  
Jameson Y. Lee ◽  
Zachary Cook ◽  
Alexander Barzilov ◽  
Woosoon Yim
Keyword(s):  
Attitude Control ◽  
Disturbance Rejection ◽  
Unmanned Aerial Systems ◽  
Control Methods ◽  
Aerial Manipulation ◽  
Single Body ◽  
Aerial Manipulator ◽  
The Many ◽  
Aerial Systems ◽  
Rotor Control

Multirotor Unmanned Aerial Systems (UAS) are highly mobile in flight and possess stable hovering capabilities. Because of their unique flight characteristics, the utilization of the platform for active tasks such as aerial manipulation is highly attractive. Much work has been done in recent years towards the implementation of multirotor for aerial manipulation, however, progress in the field has been slow due to the many challenges involved in the implementation of robust rotor control. In an attempt to reduce the effects of the manipulator, a technique for disturbance rejection using a novel balancing mechanism is proposed. In this paper, the dynamic equations of a coupled multirotor and manipulator are analyzed as a single body for use in the attitude control of the platform. By mounting the mechanism, the platform effectively gains marginal control over the positioning of its center of gravity relative to a body fixed frame. It can be shown that the increased mobility can be utilized to reduce rotor saturation for any given flight condition and improve the effectiveness of previously developed rotor control methods.

scholarly journals Closed-Loop Behavior of an Autonomous Helicopter Equipped with a Robotic Arm for Aerial Manipulation Tasks

10.5772/53754 ◽  
2013 ◽  
Vol 10 (2) ◽  
pp. 145 ◽  
Author(s):  
Konstantin Kondak ◽  
Kai Krieger ◽  
Alin Albu-Schaeffer ◽  
Marc Schwarzbach ◽  
Maximilian Laiacker ◽  
...  
Keyword(s):  
Closed Loop ◽  
Robotic Arm ◽  
Aerial Manipulation ◽  
Autonomous Helicopter

scholarly journals Visual-Inertial Telepresence for Aerial Manipulation

2020 ◽  
Author(s):  
Jongseok Lee ◽  
Ribin Balachandran ◽  
Yuri S. Sarkisov ◽  
Marco De Stefano ◽  
Andre Coelho ◽  
...  
Keyword(s):  
Aerial Manipulation

scholarly journals Wire-Suspended Device Control Based on Wireless Communication With Multirotor for Long Reach-Aerial Manipulation

IEEE Access ◽  
2020 ◽  
Vol 8 ◽  
pp. 172096-172104
Author(s):  
Ryo Miyazaki ◽  
Hannibal Paul ◽  
Takamasa Kominami ◽  
Kazuhiro Shimonomura
Keyword(s):  
Wireless Communication ◽  
Aerial Manipulation

Nonlinear control of aerial manipulation systems

2020 ◽  
Vol 104 ◽  
pp. 105945 ◽  
Author(s):  
Z. Samadikhoshkho ◽  
S. Ghorbani ◽  
F. Janabi-Sharifi ◽  
K. Zareinia
Keyword(s):  
Nonlinear Control ◽  
Aerial Manipulation

scholarly journals A Survey of Single and Multi-UAV Aerial Manipulation

2020 ◽  
Vol 08 (02) ◽  
pp. 119-147 ◽  
Author(s):  
Abdullah Mohiuddin ◽  
Taha Tarek ◽  
Yahya Zweiri ◽  
Dongming Gan
Keyword(s):  
Visual Servoing ◽  
Review Paper ◽  
Environment Interaction ◽  
Aerial Manipulation ◽  
Aerial Manipulator ◽  
Pick And Place ◽  
Aerial Platforms ◽  
End Effectors ◽  
Manipulation Capability ◽  
Multi Uav

Aerial manipulation has direct application prospects in environment, construction, forestry, agriculture, search, and rescue. It can be used to pick and place objects and hence can be used for transportation of goods. Aerial manipulation can be used to perform operations in environments inaccessible or unsafe for human workers. This paper is a survey of recent research in aerial manipulation. The aerial manipulation research has diverse aspects, which include the designing of aerial manipulation platforms, manipulators, grippers, the control of aerial platform and manipulators, the interaction of aerial manipulator with the environment, through forces and torque. In particular, the review paper presents the survey of the airborne platforms that can be used for aerial manipulation including the new aerial platforms with aerial manipulation capability. We also classified the aerial grippers and aerial manipulators based on their designs and characteristics. The recent contributions regarding the control of the aerial manipulator platform is also discussed. The environment interaction of aerial manipulators is also surveyed which includes, different strategies used for end-effectors interaction with the environment, application of force, application of torque and visual servoing. A recent and growing interest of researchers about the multi-UAV collaborative aerial manipulation was also noticed and hence different strategies for collaborative aerial manipulation are also surveyed, discussed and critically analyzed. Some key challenges regarding outdoor aerial manipulation and energy constraints in aerial manipulation are also discussed.

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