Multirotor with two arms: multirotor/arms interaction

Unlike fixed base manipulators, in an aerial manipulation robot the reaction wrenches caused by the motion of the arms or the physical interactions raised on flight are supported by the aerial platform, causing typically undesired oscillations in the attitude or deviations in the position that may complicate the realization of grasping tasks or installation operations. Since it is difficult to appreciate this effect on flight due to the action of the autopilot and the noise generated by the propellers, the goal of this dataset is to analyze qualitatively the effect of the motion of a dual arm manipulator over the attitude of a multirotor platform supported by wires, emulating hovering conditions. In particular, it is interesting to evaluate the partial reaction compensation capability of a dual arm manipulator, generating coordinated symmetric trajectories to cancel the reactions in two axes (roll and yaw). The data logs also reveal how the reaction oscillation in the multirotor is higher as the velocity/acceleration of the arms increases.

This dataset is obtained with the dual arm aerial manipulator (DJI Matrice 600 hexarotor equipped with USE dual arm) hanging from four cables attached to the multirotor base emulating hovering conditions. Although the datasets presented here were obtained with a particular platform and dual arm manipulator, these may result of interest for a preliminary analysis of the dynamic coupling effect. The orientation data was obtained with a STM32F3 Discovery board attached to the multirotor base, providing the measurements from the accelerometer, gyroscope and magnetometer sensors. The arms are built with the Herkulex DRS-0402 and DRS-0602 servos and a customized aluminium frame structure. The experiments consist of generating a sequence of rotations around the shoulder pitch and shoulder yaw joints with one arm (non-compensated reaction wrenches) and with both arms (partial reaction compensation), considering different joint speeds. The measurement given by the gyroscope in the roll-pitch-yaw angles is evaluated to analyze the amplitude of the reaction wrenches.