Compliant Bimanual Aerial Manipulation: Standard and Long Reach Configurations

The ability of aerial manipulation robots to reach and operate in high altitude workspaces may result of interest in a wide variety of applications and scenarios that nowadays cannot be accessed easily by human operators. Consider for example the installation of sensors in polluted areas, the insula...

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Autores: Suárez Fernández-Miranda, Alejandro, Real Pérez, Francisco Javier, Vega, Víctor, Heredia Benot, Guillermo, Rodríguez Castaño, Ángel, Ollero Baturone, Aníbal
Tipo de documento: artigo
Estado:Versão publicada
Data de publicação:2020
País:España
Recursos:Universidad de Sevilla (US)
Repositório:idUS. Depósito de Investigación de la Universidad de Sevilla
OAI Identifier:oai:idus.us.es:11441/114875
Acesso em linha:https://hdl.handle.net/11441/114875
https://doi.org/10.1109/ACCESS.2020.2993101
Access Level:Acceso aberto
Palavra-chave:Aerial manipulation
Compliance
Long reach
Force control
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spelling Compliant Bimanual Aerial Manipulation: Standard and Long Reach ConfigurationsSuárez Fernández-Miranda, AlejandroReal Pérez, Francisco JavierVega, VíctorHeredia Benot, GuillermoRodríguez Castaño, ÁngelOllero Baturone, AníbalAerial manipulationComplianceLong reachForce controlThe ability of aerial manipulation robots to reach and operate in high altitude workspaces may result of interest in a wide variety of applications and scenarios that nowadays cannot be accessed easily by human operators. Consider for example the installation of sensors in polluted areas, the insulation of leaks in pipe structures, or the corrosion repair in power lines and wind turbines. This paper describes the application of a human-like dual arm aerial manipulator for the inspection of pipe structures, typical of chemical plants, involving the installation and retrieval of sensor devices. The goal is to reduce the time, cost, and risk with respect to conventional solutions conducted by human workers. Two con gurations of the aerial robot are considered and compared: the standard, in which the arms are installed at the base of the multirotor, and the long reach con guration in passive pendulum, which extends the effective workspace of the manipulator and increases safety during the operation on ight. The kinematic and dynamic models of both con gurations are derived, proposing a uni ed notation for the equations of motion, and a force/position control scheme that relies on the servo controller and the mechanical joint compliance. The paper also describes a simulation framework used for validating the execution of the aerial manipulation task before the realization of the real experiments, which contributes to reducing the probability of failure. The potential application of the standard and long reach con gurations is evaluated in two sensor installation tasks carried out in an indoor testbedUnión Europea (Proyecto AERIAL-CORE) H2020-2019-871479Unión Europea (GRIFFIN) 788247ARM-EXTEND DPI2017-89790-RMinisterio de Economía, Industria, y Competitividad (ARTIC) RTI2018-102224-B-I00IEEEIngeniería de Sistemas y AutomáticaTEP151: Robótica, Visión y ControlEuropean Commission (EC)European Research Council (ERC)Ministerio de Economia, Industria y Competitividad (MINECO). España2020info:eu-repo/semantics/articleinfo:eu-repo/semantics/publishedVersionapplication/pdfapplication/pdfhttps://hdl.handle.net/11441/114875https://doi.org/10.1109/ACCESS.2020.2993101reponame:idUS. Depósito de Investigación de la Universidad de Sevillainstname:Universidad de Sevilla (US)InglésIEEE Access, 8, 888844-88865.H2020-2019-871479788247DPI2017-89790-RRTI2018-102224-B-I00https://ieeexplore.ieee.org/document/9088973info:eu-repo/semantics/openAccessoai:idus.us.es:11441/1148752026-06-17T12:51:07Z
dc.title.none.fl_str_mv Compliant Bimanual Aerial Manipulation: Standard and Long Reach Configurations
title Compliant Bimanual Aerial Manipulation: Standard and Long Reach Configurations
spellingShingle Compliant Bimanual Aerial Manipulation: Standard and Long Reach Configurations
Suárez Fernández-Miranda, Alejandro
Aerial manipulation
Compliance
Long reach
Force control
title_short Compliant Bimanual Aerial Manipulation: Standard and Long Reach Configurations
title_full Compliant Bimanual Aerial Manipulation: Standard and Long Reach Configurations
title_fullStr Compliant Bimanual Aerial Manipulation: Standard and Long Reach Configurations
title_full_unstemmed Compliant Bimanual Aerial Manipulation: Standard and Long Reach Configurations
title_sort Compliant Bimanual Aerial Manipulation: Standard and Long Reach Configurations
dc.creator.none.fl_str_mv Suárez Fernández-Miranda, Alejandro
Real Pérez, Francisco Javier
Vega, Víctor
Heredia Benot, Guillermo
Rodríguez Castaño, Ángel
Ollero Baturone, Aníbal
author Suárez Fernández-Miranda, Alejandro
author_facet Suárez Fernández-Miranda, Alejandro
Real Pérez, Francisco Javier
Vega, Víctor
Heredia Benot, Guillermo
Rodríguez Castaño, Ángel
Ollero Baturone, Aníbal
author_role author
author2 Real Pérez, Francisco Javier
Vega, Víctor
Heredia Benot, Guillermo
Rodríguez Castaño, Ángel
Ollero Baturone, Aníbal
author2_role author
author
author
author
author
dc.contributor.none.fl_str_mv Ingeniería de Sistemas y Automática
TEP151: Robótica, Visión y Control
European Commission (EC)
European Research Council (ERC)
Ministerio de Economia, Industria y Competitividad (MINECO). España
dc.subject.none.fl_str_mv Aerial manipulation
Compliance
Long reach
Force control
topic Aerial manipulation
Compliance
Long reach
Force control
description The ability of aerial manipulation robots to reach and operate in high altitude workspaces may result of interest in a wide variety of applications and scenarios that nowadays cannot be accessed easily by human operators. Consider for example the installation of sensors in polluted areas, the insulation of leaks in pipe structures, or the corrosion repair in power lines and wind turbines. This paper describes the application of a human-like dual arm aerial manipulator for the inspection of pipe structures, typical of chemical plants, involving the installation and retrieval of sensor devices. The goal is to reduce the time, cost, and risk with respect to conventional solutions conducted by human workers. Two con gurations of the aerial robot are considered and compared: the standard, in which the arms are installed at the base of the multirotor, and the long reach con guration in passive pendulum, which extends the effective workspace of the manipulator and increases safety during the operation on ight. The kinematic and dynamic models of both con gurations are derived, proposing a uni ed notation for the equations of motion, and a force/position control scheme that relies on the servo controller and the mechanical joint compliance. The paper also describes a simulation framework used for validating the execution of the aerial manipulation task before the realization of the real experiments, which contributes to reducing the probability of failure. The potential application of the standard and long reach con gurations is evaluated in two sensor installation tasks carried out in an indoor testbed
publishDate 2020
dc.date.none.fl_str_mv 2020
dc.type.none.fl_str_mv info:eu-repo/semantics/article
info:eu-repo/semantics/publishedVersion
format article
status_str publishedVersion
dc.identifier.none.fl_str_mv https://hdl.handle.net/11441/114875
https://doi.org/10.1109/ACCESS.2020.2993101
url https://hdl.handle.net/11441/114875
https://doi.org/10.1109/ACCESS.2020.2993101
dc.language.none.fl_str_mv Inglés
language_invalid_str_mv Inglés
dc.relation.none.fl_str_mv IEEE Access, 8, 888844-88865.
H2020-2019-871479
788247
DPI2017-89790-R
RTI2018-102224-B-I00
https://ieeexplore.ieee.org/document/9088973
dc.rights.none.fl_str_mv info:eu-repo/semantics/openAccess
eu_rights_str_mv openAccess
dc.format.none.fl_str_mv application/pdf
application/pdf
dc.publisher.none.fl_str_mv IEEE
publisher.none.fl_str_mv IEEE
dc.source.none.fl_str_mv reponame:idUS. Depósito de Investigación de la Universidad de Sevilla
instname:Universidad de Sevilla (US)
instname_str Universidad de Sevilla (US)
reponame_str idUS. Depósito de Investigación de la Universidad de Sevilla
collection idUS. Depósito de Investigación de la Universidad de Sevilla
repository.name.fl_str_mv
repository.mail.fl_str_mv
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score 15,300719

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