Novel Omnidirectional Aerial Manipulator With Elastic Suspension: Dynamic Control and Experimental Performance Assessment
Arda Yiğit, Miguel Arpa Perozo, Loïc Cuvillon, Sylvain Durand, Jacques Gangloff
Abstract
Aerial manipulators may replace industrial manipulators for specific tasks involving large workspaces and high dynamics. However, these robots suffer from a lack of accuracy, autonomy, payload capability and a complex regulatory environment. To overcome some of these limitations, we introduce a novel aerial manipulator suspended by a spring to a robotic carrier. A computed torque controller with exteroceptive feedback is used to control the robot, using singular perturbation theory to prove the stability. We carried out various experiments to assess the workspace, accuracy and dynamics of the manipulator.
Topics & Concepts
WorkspaceControl theory (sociology)Payload (computing)RobotControl engineeringComputer scienceRobot manipulatorManipulator (device)Controller (irrigation)Mobile manipulatorOmnidirectional antennaControl (management)EngineeringMobile robotArtificial intelligenceNetwork packetComputer networkAgronomyAntenna (radio)BiologyTelecommunicationsAdaptive Control of Nonlinear SystemsControl and Dynamics of Mobile RobotsDynamics and Control of Mechanical Systems