Controlled Shaking of Trees With an Aerial Manipulator

© 2024 IEEE. Personal use is permitted, but republication/redistribution requires IEEE permission.

Detalhes bibliográficos
Autores: González Morgado, Antonio, Cuniato, Eugenio, Tognon, Marco, Heredia Benot, Guillermo, Siegwart, Roland, Ollero Baturone, Aníbal
Formato: artículo
Estado:Versión publicada
Fecha de publicación:2024
País:España
Recursos:Universidad de Sevilla (US)
Repositorio:idUS. Depósito de Investigación de la Universidad de Sevilla
OAI Identifier:oai:idus.us.es:11441/164335
Acesso em linha:https://hdl.handle.net/11441/164335
https://doi.org/341016710.1109/TMECH.2024
Access Level:acceso abierto
Palavra-chave:Aerial physical interaction
Aerial robotics
Control for manipulation
Control of flexible elements
Controlled shaking
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spelling Controlled Shaking of Trees With an Aerial ManipulatorGonzález Morgado, AntonioCuniato, EugenioTognon, MarcoHeredia Benot, GuillermoSiegwart, RolandOllero Baturone, AníbalAerial physical interactionAerial roboticsControl for manipulationControl of flexible elementsControlled shaking© 2024 IEEE. Personal use is permitted, but republication/redistribution requires IEEE permission.In recent years, the fields of application of aerial manipulators have expanded, ranging from infrastructure inspection to physical interaction with flexible elements, such as branches and trees. This article presents the controlled shaking of a tree with an aerial manipulator. Our work aims at contributing to applications like the identification of tree parameters for environmental health monitoring or the collection of samples and fruits by vibration. To this end, we propose a control strategy for controlled shaking of flexible systems. We adopt a self-excited oscillation strategy that induces vibrations at the natural frequency of the system, at which the greatest amplification and therefore the greatest vibrations occur. Likewise, this work presents a simplified 1 degree of freedom (DoF) model based on the Rayleigh–Ritz method to analyze dynamic interaction between a tree and the aerial manipulator with the controlled shaking strategy. The proposed control strategy is evaluated through indoor experiments, where an aerial manipulator shakes an indoor tree made of bamboo canes. Experimental results show how the proposed model can estimate properly the amplitude of the vibration and the frequency of the vibration, depending on the grasping point and the control gain of the self-excited oscillation strategy.Institute of Electrical and Electronics Engineers (IEEE)Ingeniería de Sistemas y AutomáticaTEP151: Robótica, Visión y ControlAEROTRAIN Marie Skłodowska-CurieMARTINEuropean Commission (EC). Fondo Europeo de Desarrollo Regional (FEDER)2024info:eu-repo/semantics/articleinfo:eu-repo/semantics/publishedVersionapplication/pdfhttps://hdl.handle.net/11441/164335https://doi.org/341016710.1109/TMECH.2024reponame:idUS. Depósito de Investigación de la Universidad de Sevillainstname:Universidad de Sevilla (US)InglésIEEE/ASME Transactions on Mechatronics.PID2022- 143267OB-I00MSCA-ITN-2020-953454https://ieeexplore.ieee.org/document/10558713/metrics#metricsinfo:eu-repo/semantics/openAccessoai:idus.us.es:11441/1643352026-06-17T12:51:07Z
dc.title.none.fl_str_mv Controlled Shaking of Trees With an Aerial Manipulator
title Controlled Shaking of Trees With an Aerial Manipulator
spellingShingle Controlled Shaking of Trees With an Aerial Manipulator
González Morgado, Antonio
Aerial physical interaction
Aerial robotics
Control for manipulation
Control of flexible elements
Controlled shaking
title_short Controlled Shaking of Trees With an Aerial Manipulator
title_full Controlled Shaking of Trees With an Aerial Manipulator
title_fullStr Controlled Shaking of Trees With an Aerial Manipulator
title_full_unstemmed Controlled Shaking of Trees With an Aerial Manipulator
title_sort Controlled Shaking of Trees With an Aerial Manipulator
dc.creator.none.fl_str_mv González Morgado, Antonio
Cuniato, Eugenio
Tognon, Marco
Heredia Benot, Guillermo
Siegwart, Roland
Ollero Baturone, Aníbal
author González Morgado, Antonio
author_facet González Morgado, Antonio
Cuniato, Eugenio
Tognon, Marco
Heredia Benot, Guillermo
Siegwart, Roland
Ollero Baturone, Aníbal
author_role author
author2 Cuniato, Eugenio
Tognon, Marco
Heredia Benot, Guillermo
Siegwart, Roland
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
AEROTRAIN Marie Skłodowska-Curie
MARTIN
European Commission (EC). Fondo Europeo de Desarrollo Regional (FEDER)
dc.subject.none.fl_str_mv Aerial physical interaction
Aerial robotics
Control for manipulation
Control of flexible elements
Controlled shaking
topic Aerial physical interaction
Aerial robotics
Control for manipulation
Control of flexible elements
Controlled shaking
description © 2024 IEEE. Personal use is permitted, but republication/redistribution requires IEEE permission.
publishDate 2024
dc.date.none.fl_str_mv 2024
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/11441/164335
https://doi.org/341016710.1109/TMECH.2024
url https://hdl.handle.net/11441/164335
https://doi.org/341016710.1109/TMECH.2024
dc.language.none.fl_str_mv Inglés
language_invalid_str_mv Inglés
dc.relation.none.fl_str_mv IEEE/ASME Transactions on Mechatronics.
PID2022- 143267OB-I00
MSCA-ITN-2020-953454
https://ieeexplore.ieee.org/document/10558713/metrics#metrics
dc.rights.none.fl_str_mv info:eu-repo/semantics/openAccess
eu_rights_str_mv openAccess
dc.format.none.fl_str_mv application/pdf
dc.publisher.none.fl_str_mv Institute of Electrical and Electronics Engineers (IEEE)
publisher.none.fl_str_mv Institute of Electrical and Electronics Engineers (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 15,812429

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