Cartesian Aerial Manipulator with Compliant Arm

Nº ArtÍculo: 1001

Detalhes bibliográficos
Autores: Suarez Fernández-Miranda, Alejandro, Pérez, Manuel, Heredia Benot, Guillermo, Ollero Baturone, Aníbal
Tipo de documento: artigo
Estado:Versão publicada
Data de publicação:2021
País:España
Recursos:Universidad de Sevilla (US)
Repositório:idUS. Depósito de Investigación de la Universidad de Sevilla
OAI Identifier:oai:idus.us.es:11441/104599
Acesso em linha:https://hdl.handle.net/11441/104599
https://doi.org/10.3390/app11031001
Access Level:Acceso aberto
Palavra-chave:Aerial manipulation
Cartesian manipulator
Compliance
Hexa-rotor
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oai_identifier_str oai:idus.us.es:11441/104599
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spelling Cartesian Aerial Manipulator with Compliant ArmSuarez Fernández-Miranda, AlejandroPérez, ManuelHeredia Benot, GuillermoOllero Baturone, AníbalAerial manipulationCartesian manipulatorComplianceHexa-rotorNº ArtÍculo: 1001This paper presents an aerial manipulation robot consisting of a hexa-rotor equipped with a 2-DOF (degree of freedom) Cartesian base (XY–axes) that supports a 1-DOF compliant joint arm that integrates a gripper and an elastic linear force sensor. The proposed kinematic configuration improves the positioning accuracy of the end effector with respect to robotic arms with revolute joints, where each coordinate of the Cartesian position depends on all the joint angles. The Cartesian base reduces the inertia of the manipulator and the energy consumption since it does not need to lift its own weight. Consequently, the required torque is lower and, thus, the weight of the actuators. The linear and angular deflection sensors of the arm allow the estimation, monitoring and control of the interaction wrenches exerted in two axes (XZ) at the end effector. The kinematic and dynamic models are derived and compared with respect to a revolute-joint arm, proposing a force-position control scheme for the aerial robot. A battery counterweight mechanism is also incorporated in the X–axis linear guide to partially compensate for the motion of the manipulator. Experimental results indoors and outdoors show the performance of the robot, including object grasping and retrieval, contact force control, and force monitoring in grabbing situations.Ministerio de Economía, Industria y Competitividad Proyecto ARTIC RTI2018-102224- B-I00Comisión Europea Proyecto AERIAL-CORE H2020-2019-871479Comisión Europea Proyecto HYFLIERS H2020- ICT-25-2017-779411MDPIIngeniería de Sistemas y AutomáticaTEP-151: Robótica, Visión y Control2021info:eu-repo/semantics/articleinfo:eu-repo/semantics/publishedVersionapplication/pdfapplication/pdfhttps://hdl.handle.net/11441/104599https://doi.org/10.3390/app11031001reponame:idUS. Depósito de Investigación de la Universidad de Sevillainstname:Universidad de Sevilla (US)InglésApplied Sciences, 11 (3), 1-20. RTI2018-102224- B-I00H2020-2019-871479https://www.mdpi.com/search?q=Cartesian+Aerial+Manipulator+with+Compliant+Arm&journal=applsciinfo:eu-repo/semantics/openAccessoai:idus.us.es:11441/1045992026-06-17T12:51:07Z
dc.title.none.fl_str_mv Cartesian Aerial Manipulator with Compliant Arm
title Cartesian Aerial Manipulator with Compliant Arm
spellingShingle Cartesian Aerial Manipulator with Compliant Arm
Suarez Fernández-Miranda, Alejandro
Aerial manipulation
Cartesian manipulator
Compliance
Hexa-rotor
title_short Cartesian Aerial Manipulator with Compliant Arm
title_full Cartesian Aerial Manipulator with Compliant Arm
title_fullStr Cartesian Aerial Manipulator with Compliant Arm
title_full_unstemmed Cartesian Aerial Manipulator with Compliant Arm
title_sort Cartesian Aerial Manipulator with Compliant Arm
dc.creator.none.fl_str_mv Suarez Fernández-Miranda, Alejandro
Pérez, Manuel
Heredia Benot, Guillermo
Ollero Baturone, Aníbal
author Suarez Fernández-Miranda, Alejandro
author_facet Suarez Fernández-Miranda, Alejandro
Pérez, Manuel
Heredia Benot, Guillermo
Ollero Baturone, Aníbal
author_role author
author2 Pérez, Manuel
Heredia Benot, Guillermo
Ollero Baturone, Aníbal
author2_role author
author
author
dc.contributor.none.fl_str_mv Ingeniería de Sistemas y Automática
TEP-151: Robótica, Visión y Control
dc.subject.none.fl_str_mv Aerial manipulation
Cartesian manipulator
Compliance
Hexa-rotor
topic Aerial manipulation
Cartesian manipulator
Compliance
Hexa-rotor
description Nº ArtÍculo: 1001
publishDate 2021
dc.date.none.fl_str_mv 2021
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/11441/104599
https://doi.org/10.3390/app11031001
url https://hdl.handle.net/11441/104599
https://doi.org/10.3390/app11031001
dc.language.none.fl_str_mv Inglés
language_invalid_str_mv Inglés
dc.relation.none.fl_str_mv Applied Sciences, 11 (3), 1-20.
RTI2018-102224- B-I00
H2020-2019-871479
https://www.mdpi.com/search?q=Cartesian+Aerial+Manipulator+with+Compliant+Arm&journal=applsci
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 MDPI
publisher.none.fl_str_mv MDPI
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 15.300724

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