2621758
doi
10.1109/MRA.2018.2884744
oai:zenodo.org:2621758
user-eu
Begoña C. Arrue
Universidad de Sevilla
Anibal Ollero
Universidad de Sevilla
Low-cost 3D-Printable Docking System for Controlling Aerial Robotic Manipulators in Outdoor Industrial Applications
Pablo Ramón Soria
Universidad de Sevilla
info:eu-repo/semantics/openAccess
Creative Commons Attribution 4.0 International
https://creativecommons.org/licenses/by/4.0/legalcode
<p>This article proposes a novel docking system design for unmanned aerial vehicles (UAVs) that provides measurements of the robot's position at high frequency. These measurements are used to control the aerial robot, enabling it to hover while it performs any kind of manipulation task in GPS-denied industrial environments without causing the UAV to drift or putting at risk the platform and its environment. The novel tool is designed as an arm end effector, preventing the aerial manipulator from colliding while in operation. A cascade controller is proposed to close the position loop. An additional use case for the docking system is described in the "Experimental Validation" section; it consists of performing position-based servoing (PBS) of a second manipulator using the position provided by the docking tool and the manipulator's kinematic model.</p>
Zenodo
2019-01-07
info:eu-repo/semantics/article
2621757
user-eu
award_title=HYbrid FLying-rollIng with-snakE-aRm robot for contact inSpection; award_number=779411; award_identifiers_scheme=url; award_identifiers_identifier=https://cordis.europa.eu/projects/779411; funder_id=00k4n6c32; funder_name=European Commission;
award_title=AErial RObotic system integrating multiple ARMS and advanced manipulation capabilities for inspection and maintenance; award_number=644271; award_identifiers_scheme=url; award_identifiers_identifier=https://cordis.europa.eu/projects/644271; funder_id=00k4n6c32; funder_name=European Commission;
1579527192.573889
5990905
md5:c80e281a3ae4b38ece9a9ba2d7226200
https://zenodo.org/records/2621758/files/2019 - RAM - A 3D-Printable Docking System for Aerial Robots Controlling Aerial Manipulators in Outdoor Industrial Applications.pdf
public
IEEE Robotics and Automation Magazine
2019-01-07