Differential flatness and control of protocentric aerial manipulators with any number of arms and mixed rigid-/elastic-joints

Burak Yüksel, Gabriele Buondonno, Antonio Franchi

Research output: Chapter in Book/Report/Conference proceedingConference contributionAcademicpeer-review

23 Citations (Scopus)

Abstract

In this paper we introduce a particularly relevant class of aerial manipulators that we name protocentric. These robots are formed by an underactuated aerial vehicle, a planar-Vertical Take-Off and Landing (PVTOL), equipped with any number of different parallel manipulator arms with the only property that all the first joints are attached at the Center of Mass (CoM) of the PVTOL, while the center of actuation of the PVTOL can be anywhere. We prove that protocentric aerial manipulators (PAMs) are differentially flat systems regardless the number of joints of each arm and their kinematic and dynamic parameters. The set of flat outputs is constituted by the CoM of the PVTOL and the absolute orientation angles of all the links. The relative degree of each output is equal to four. More amazingly, we prove that PAMs are differentially flat even in the case that any number of the joints are elastic, no matter the internal distribution between elastic and rigid joints. The set of flat outputs is the same but in this case the total relative degree grows quadratically with the number of elastic joints. We validate the theory by simulating object grasping and transportation tasks with unknown mass and parameters and using a controller based on dynamic feedback linearization.

Original languageEnglish
Title of host publication2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2016)
Place of PublicationPiscataway, NJ
PublisherIEEE
Pages561-566
Number of pages6
ISBN (Electronic)978-1-5090-3762-9
ISBN (Print)978-1-5090-3763-6, 978-1-5090-3761-2
DOIs
Publication statusPublished - 28 Nov 2016
Externally publishedYes
Event2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2016 - Daejeon Convention Center, Daejeon, Korea, Republic of
Duration: 9 Oct 201614 Oct 2016
http://www.iros2016.org/

Publication series

NameIEEE International Conference on Intelligent Robots and Systems
PublisherIEEE
Volume2016
ISSN (Print)2153-0858
ISSN (Electronic)2153-0866

Conference

Conference2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2016
Abbreviated titleIROS
CountryKorea, Republic of
CityDaejeon
Period9/10/1614/10/16
Internet address

Fingerprint Dive into the research topics of 'Differential flatness and control of protocentric aerial manipulators with any number of arms and mixed rigid-/elastic-joints'. Together they form a unique fingerprint.

Cite this