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

International Journal of Advanced Robotic Systems - Tập 10 Số 2 - 2013
Konstantin Kondak1, Kai Krieger1, Alin Albu‐Schäffer1, Marc Schwarzbach1, Maximilian Laiacker1, Iván Maza2, Ángel R. Castaño2, Anı́bal Ollero2
11 Institute of Robotics and Mechatronics, DLR (German Aerospace Center), Oberpfaffenhoffen-Wessling, Germany
22 Robotics, Vision and Control Group, Universidad de Sevilla, Seville, Spain

Tóm tắt

This paper is devoted to the control of aerial robots interacting physically with objects in the environment and with other aerial robots. The paper presents a controller for the particular case of a small-scaled autonomous helicopter equipped with a robotic arm for aerial manipulation. Two types of influences are imposed on the helicopter from a manipulator: coherent and non-coherent influence. In the former case, the forces and torques imposed on the helicopter by the manipulator change with frequencies close to those of the helicopter movement. The paper shows that even small interaction forces imposed on the fuselage periodically in proper phase could yield to low frequency instabilities and oscillations, so-called phase circles.

Từ khóa


Tài liệu tham khảo

Albers A., Trautmann S., Howard T., Nguyen T. A., Frietsch M. & Sauter C. (2010). Semiautonomous flying robot for physical interaction with environment, Robotics, Automation and Mechatronics.

10.1109/ROBOT.2009.5152382

10.1002/rob.20401

10.1163/156855301750398347

Kondak K., 2006, International ISR/Robotik Joint Conference, 207

10.1109/ROBOT.2007.363074

10.1007/s10846-011-9591-3

10.15607/RSS.2011.VII.025

10.1007/s10846-009-9352-8

10.1109/IROS.2011.6094871

Mellinger D., Shomin M., Michael N. & Kumar V. (2010). Cooperative grasping and transport using multiple quadrotors, Proceedings of the International Symposium on Distributed Autonomous Robotic Systems.

10.1002/(SICI)1097-4563(199804)15:4<207::AID-ROB3>3.0.CO;2-T

10.1017/S0263574707003438

Orsag M., Korpela C. & Oh P. (2012). Modeling and control of MM-UAV: Mobile manipulating unmanned aerial vehicle, Proc. of the International Conference on Unmanned Aircraft Systems.

Pounds P. & Dollar A. (2010). Hovering stability of helicopters with elastic constraints, Proceedings of the ASME Dynamic Systems and Control Conference.

Pounds P. E. I., Bersak D. R. & Dollar A. M. (2011). Grasping from the air: Hovering capture and load stability, ICRA, IEEE, pp. 2491–2498. URL: http://dx.doi.org/10.1109/ICRA.2011.5980314

10.1016/0094-5765(87)90022-1

Vafa Z., 1987, ICRA, 4, 579

10.1177/027836499000900401

Thông tin
Thông tin xuất bản

International Journal of Advanced Robotic Systems

Tập 10 Số 2

Thông tin tác giả