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Aerial manipulation robot composed of an autonomous helicopter and a 7 degrees of freedom industrial manipulator

Kondak, Konstantin and Huber, Felix and Schwarzbach, Marc and Laiacker, Maximilian and Sommer, Dominik and Bejar, Manuel and Ollero, Anibal (2014) Aerial manipulation robot composed of an autonomous helicopter and a 7 degrees of freedom industrial manipulator. In: IEEE International Conference on Robotics and Automation (ISSN: 1042-296X). IEEE. IEEE International Conference on Robotics and Automation (ICRA), 2014, Hong Kong, China. doi: 10.1109/icra.2014.6907148. ISSN 1042-296X.

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Abstract

This paper is devoted to a system for aerial manipulation, composed of a helicopter and an industrial manipulator. The usage of an industrial manipulator is motivated by practical applications which were identified in different cooperation projects with the industry. We address the coupling between manipulator and helicopter and show that even in case when we have an ideal controller for manipulator and a highperformance controller for helicopter, an unbounded energy flow can be generated by internal forces between helicopter and manipulator if both controllers are used independently. To solve this problem we propose a new kinematical coupling for control by introducing an additional manipulation DoF realized by helicopter rotation around its yaw axis. The new experimental setup and required modifications in the manipulator controller for this purpose are described. Further, we propose dynamical coupling which is implemented by modification of the helicopter controller feeding the interaction force/torque, measured between manipulator base and fuselage, directly to the actuators of the rotor blades. At the end, we present experimental results for aerial manipulation and their analysis

Item URL in elib:https://elib.dlr.de/94504/
Document Type:Conference or Workshop Item (Speech)
Title:Aerial manipulation robot composed of an autonomous helicopter and a 7 degrees of freedom industrial manipulator
Authors:
AuthorsInstitution or Email of AuthorsAuthor's ORCID iDORCID Put Code
Kondak, KonstantinUNSPECIFIEDUNSPECIFIEDUNSPECIFIED
Huber, FelixUNSPECIFIEDUNSPECIFIEDUNSPECIFIED
Schwarzbach, MarcUNSPECIFIEDUNSPECIFIEDUNSPECIFIED
Laiacker, MaximilianUNSPECIFIEDUNSPECIFIEDUNSPECIFIED
Sommer, DominikUNSPECIFIEDUNSPECIFIEDUNSPECIFIED
Bejar, ManuelUNSPECIFIEDUNSPECIFIEDUNSPECIFIED
Ollero, AnibalUNSPECIFIEDUNSPECIFIEDUNSPECIFIED
Date:June 2014
Journal or Publication Title:IEEE International Conference on Robotics and Automation (ISSN: 1042-296X)
Refereed publication:Yes
Open Access:No
Gold Open Access:No
In SCOPUS:No
In ISI Web of Science:Yes
DOI:10.1109/icra.2014.6907148
Editors:
EditorsEmailEditor's ORCID iDORCID Put Code
UNSPECIFIEDIEEEUNSPECIFIEDUNSPECIFIED
Publisher:IEEE
ISSN:1042-296X
Status:Published
Keywords:UAV, control, modelling, aerial manipulation, mobile robots, flying robots
Event Title:IEEE International Conference on Robotics and Automation (ICRA), 2014
Event Location:Hong Kong, China
Event Type:international Conference
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space System Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Space System Technology
DLR - Research theme (Project):R - Terrestrial Assistance Robotics (old)
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013)
Deposited By: Kondak, Konstantin
Deposited On:12 Jan 2015 17:41
Last Modified:24 Jul 2023 10:25

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