A Truly Redundant Aerial Manipulator exploiting a Multi-directional Thrust Base

Markus Ryll; Davide Bicego; Antonio Franchi

A Truly Redundant Aerial Manipulator exploiting a Multi-directional Thrust Base

Markus Ryll, Davide Bicego, Antonio Franchi

Research output: Contribution to conference › Paper › Academic › peer-review

Abstract

We present a novel aerial manipulator concept composed of a fully actuated hexarotor aerial vehicle and an n degree of freedom manipulator. Aiming at interaction tasks, we present a trajectory following control framework for the end-effector of the manipulator. The system is modeled in Euler-Lagrangian formalism and in Denavit-Hartenberg form. Benefiting from the redundancy of the system, we present several cost function strategies based on the projected gradient method to optimize the aerial manipulator behavior. The control framework is based on exact feedback linearization. In an advanced simulation section, we thoroughly present the robustness of the system and its limits in two typical configuration constituted by an 8 and a 10 degrees of freedom redundant aerial manipulator.

Original language	English
Number of pages	6
Publication status	Published - Aug 2018
Externally published	Yes
Event	12th International IFAC Symposium on Robot Control, SYROCO 2018 - Budapest, Hungary Duration: 27 Aug 2018 → 30 Aug 2018 Conference number: 12

Conference

Conference	12th International IFAC Symposium on Robot Control, SYROCO 2018
Abbreviated title	SYROCO
Country	Hungary
City	Budapest
Period	27/08/18 → 30/08/18

Keywords

Unmanned aerial robots
Redundant manipulators
Robot kinematics

Access to Document

Ryll2018trulyAccepted author version, 1.18 MB

https://hal.laas.fr/hal-01846466

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Cite this

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title = "A Truly Redundant Aerial Manipulator exploiting a Multi-directional Thrust Base",

abstract = "We present a novel aerial manipulator concept composed of a fully actuated hexarotor aerial vehicle and an n degree of freedom manipulator. Aiming at interaction tasks, we present a trajectory following control framework for the end-effector of the manipulator. The system is modeled in Euler-Lagrangian formalism and in Denavit-Hartenberg form. Benefiting from the redundancy of the system, we present several cost function strategies based on the projected gradient method to optimize the aerial manipulator behavior. The control framework is based on exact feedback linearization. In an advanced simulation section, we thoroughly present the robustness of the system and its limits in two typical configuration constituted by an 8 and a 10 degrees of freedom redundant aerial manipulator.",

keywords = "Unmanned aerial robots, Redundant manipulators, Robot kinematics",

author = "Markus Ryll and Davide Bicego and Antonio Franchi",

year = "2018",

month = aug,

language = "English",

note = "12th International IFAC Symposium on Robot Control, SYROCO 2018, SYROCO ; Conference date: 27-08-2018 Through 30-08-2018",

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TY - CONF

T1 - A Truly Redundant Aerial Manipulator exploiting a Multi-directional Thrust Base

AU - Ryll, Markus

AU - Bicego, Davide

AU - Franchi, Antonio

N1 - Conference code: 12

PY - 2018/8

Y1 - 2018/8

N2 - We present a novel aerial manipulator concept composed of a fully actuated hexarotor aerial vehicle and an n degree of freedom manipulator. Aiming at interaction tasks, we present a trajectory following control framework for the end-effector of the manipulator. The system is modeled in Euler-Lagrangian formalism and in Denavit-Hartenberg form. Benefiting from the redundancy of the system, we present several cost function strategies based on the projected gradient method to optimize the aerial manipulator behavior. The control framework is based on exact feedback linearization. In an advanced simulation section, we thoroughly present the robustness of the system and its limits in two typical configuration constituted by an 8 and a 10 degrees of freedom redundant aerial manipulator.

AB - We present a novel aerial manipulator concept composed of a fully actuated hexarotor aerial vehicle and an n degree of freedom manipulator. Aiming at interaction tasks, we present a trajectory following control framework for the end-effector of the manipulator. The system is modeled in Euler-Lagrangian formalism and in Denavit-Hartenberg form. Benefiting from the redundancy of the system, we present several cost function strategies based on the projected gradient method to optimize the aerial manipulator behavior. The control framework is based on exact feedback linearization. In an advanced simulation section, we thoroughly present the robustness of the system and its limits in two typical configuration constituted by an 8 and a 10 degrees of freedom redundant aerial manipulator.

KW - Unmanned aerial robots

KW - Redundant manipulators

KW - Robot kinematics

M3 - Paper

T2 - 12th International IFAC Symposium on Robot Control, SYROCO 2018

Y2 - 27 August 2018 through 30 August 2018

ER -