Sarkisov, Iurii und Coelho, Andre und Santos, Maihara Gabrieli und Kim, Min Jun und Tsetserukou, Dzmitry und Ott, Christian und Kondak, Konstantin (2023) Hierarchical Whole-body Control of the cable-Suspended Aerial Manipulator endowed with Winch-based Actuation. In: 2023 IEEE International Conference on Robotics and Automation, ICRA 2023, Seiten 5366-5372. IEEE. 2023 IEEE International Conference on Robotics and Automation (ICRA), 2023-05-29 - 2023-06-02, London, UK. doi: 10.1109/ICRA48891.2023.10160718. ISBN 979-835032365-8. ISSN 1050-4729.
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Offizielle URL: https://ieeexplore.ieee.org/document/10160718
Kurzfassung
During operation, aerial manipulation systems are affected by various disturbances. Among them is a gravitational torque caused by the weight of the robotic arm. Common propeller-based actuation is ineffective against such disturbances because of possible overheating and high power consumption. To overcome this issue, in this paper we propose a winch-based actuation for the crane-stationed cable-suspended aerial manipulator. Three winch-controlled suspension rigging cables produce a desired cable tension distribution to generate a wrench that reduces the effect of gravitational torque. In order to coordinate the robotic arm and the winch-based actuation, a model-based hierarchical whole-body controller is adapted. It resolves two tasks: keeping the robotic arm end-effector at the desired pose and shifting the system center of mass in the location with zero gravitational torque. The performance of the introduced actuation system as well as control strategy is validated through experimental studies.
elib-URL des Eintrags: | https://elib.dlr.de/197461/ | ||||||||||||||||||||||||||||||||
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Dokumentart: | Konferenzbeitrag (Vortrag) | ||||||||||||||||||||||||||||||||
Titel: | Hierarchical Whole-body Control of the cable-Suspended Aerial Manipulator endowed with Winch-based Actuation | ||||||||||||||||||||||||||||||||
Autoren: |
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Datum: | 4 Juli 2023 | ||||||||||||||||||||||||||||||||
Erschienen in: | 2023 IEEE International Conference on Robotics and Automation, ICRA 2023 | ||||||||||||||||||||||||||||||||
Referierte Publikation: | Ja | ||||||||||||||||||||||||||||||||
Open Access: | Nein | ||||||||||||||||||||||||||||||||
Gold Open Access: | Nein | ||||||||||||||||||||||||||||||||
In SCOPUS: | Ja | ||||||||||||||||||||||||||||||||
In ISI Web of Science: | Nein | ||||||||||||||||||||||||||||||||
DOI: | 10.1109/ICRA48891.2023.10160718 | ||||||||||||||||||||||||||||||||
Seitenbereich: | Seiten 5366-5372 | ||||||||||||||||||||||||||||||||
Verlag: | IEEE | ||||||||||||||||||||||||||||||||
ISSN: | 1050-4729 | ||||||||||||||||||||||||||||||||
ISBN: | 979-835032365-8 | ||||||||||||||||||||||||||||||||
Status: | veröffentlicht | ||||||||||||||||||||||||||||||||
Stichwörter: | Whole-body Control; cable-Suspended Aerial Manipulator | ||||||||||||||||||||||||||||||||
Veranstaltungstitel: | 2023 IEEE International Conference on Robotics and Automation (ICRA) | ||||||||||||||||||||||||||||||||
Veranstaltungsort: | London, UK | ||||||||||||||||||||||||||||||||
Veranstaltungsart: | internationale Konferenz | ||||||||||||||||||||||||||||||||
Veranstaltungsbeginn: | 29 Mai 2023 | ||||||||||||||||||||||||||||||||
Veranstaltungsende: | 2 Juni 2023 | ||||||||||||||||||||||||||||||||
Veranstalter : | IEEE | ||||||||||||||||||||||||||||||||
HGF - Forschungsbereich: | Luftfahrt, Raumfahrt und Verkehr | ||||||||||||||||||||||||||||||||
HGF - Programm: | Raumfahrt | ||||||||||||||||||||||||||||||||
HGF - Programmthema: | Robotik | ||||||||||||||||||||||||||||||||
DLR - Schwerpunkt: | Raumfahrt | ||||||||||||||||||||||||||||||||
DLR - Forschungsgebiet: | R RO - Robotik | ||||||||||||||||||||||||||||||||
DLR - Teilgebiet (Projekt, Vorhaben): | R - Roboterdynamik & Simulation [RO] | ||||||||||||||||||||||||||||||||
Standort: | Oberpfaffenhofen | ||||||||||||||||||||||||||||||||
Institute & Einrichtungen: | Institut für Robotik und Mechatronik (ab 2013) > Analyse und Regelung komplexer Robotersysteme | ||||||||||||||||||||||||||||||||
Hinterlegt von: | Strobl, Dr. Klaus H. | ||||||||||||||||||||||||||||||||
Hinterlegt am: | 22 Sep 2023 06:29 | ||||||||||||||||||||||||||||||||
Letzte Änderung: | 24 Apr 2024 20:57 |
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