scholarly journals Task priority control for aerial manipulation

2014 ◽  
Author(s):  
Angel Santamaria-Navarro ◽  
Vincenzo Lippiello ◽  
Juan Andrade-Cetto
Keyword(s):  
Aerial Manipulation ◽  
Task Priority

scholarly journals Stability of the Tracking Problem with Task-Priority Inverse Kinematics

2018 ◽  
Vol 51 (22) ◽  
pp. 121-125 ◽  
Author(s):  
Mathias Hauan Arbo ◽  
Jan Tommy Gravdahl
Keyword(s):  
Inverse Kinematics ◽  
Tracking Problem ◽  
Task Priority

Investigating the potential of redundant manipulators in narrow channels

2020 ◽  
pp. 095440622096451
Author(s):  
Ashish Singla ◽  
Jyotindra Narayan ◽  
Himanshu Arora
Keyword(s):  
Case Studies ◽  
Fuzzy Inference ◽  
Redundant Manipulators ◽  
Redundancy Resolution ◽  
Inference System ◽  
Narrow Channels ◽  
First Case ◽  
Task Priority ◽  
Patient Side

In this paper, an attempt has been made to investigate the potential of redundant manipulators, while tracking trajectories in narrow channels. The behavior of redundant manipulators is important in many challenging applications like under-water welding in narrow tanks, checking the blockage in sewerage pipes, performing a laparoscopy operation etc. To demonstrate this snake-like behavior, redundancy resolution scheme is utilized using two different approaches. The first approach is based on the concept of task priority, where a given task is split and prioritize into several subtasks like singularity avoidance, obstacle avoidance, torque minimization, and position preference over orientation etc. The second approach is based on Adaptive Neuro Fuzzy Inference System (ANFIS), where the training is provided through given datasets and the results are back-propagated using augmentation of neural networks with fuzzy logics. Three case studies are considered in this work to demonstrate the redundancy resolution of serial manipulators. The first case study of 3-link manipulator is attempted with both the approaches, where the objective is to track the desired trajectory while avoiding multiple obstacles. The second case study of 7-link manipulator, tracking trajectory in a narrow channel, is investigated using the concept of task priority. The realistic application of minimum-invasive surgery (MIS) based trajectory tracking is considered as the third case study, which is attempted using ANFIS approach. The 5-link spatial redundant manipulator, also known as a patient-side manipulator being developed at CSIR-CSIO, Chandigarh is used to track the desired surgical cuts. Through the three case studies, it is well demonstrated that both the approaches are giving satisfactory results.

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
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