Trajectory generation for unmanned aerial manipulators through quadratic programming

© 20xx IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to s...

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Autores: Rossi, Roberto, Santamaria Navarro, Àngel|||0000-0002-6328-1423, Andrade-Cetto, Juan|||0000-0002-6354-8941, Rocco, Paolo
Tipo de recurso: artículo
Fecha de publicación:2017
País:España
Institución:Universitat Politècnica de Catalunya (UPC)
Repositorio:UPCommons. Portal del coneixement obert de la UPC
Idioma:inglés
OAI Identifier:oai:upcommons.upc.edu:2117/108714
Acceso en línea:https://hdl.handle.net/2117/108714
https://dx.doi.org/10.1109/LRA.2016.2633625
Access Level:acceso abierto
Palabra clave:Aerial manipulation
aerial robotics
mobile manipulation
trajectory generation
Classificació INSPEC::Automation::Robots
Àrees temàtiques de la UPC::Informàtica::Robòtica
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spelling Trajectory generation for unmanned aerial manipulators through quadratic programmingRossi, RobertoSantamaria Navarro, Àngel|||0000-0002-6328-1423Andrade-Cetto, Juan|||0000-0002-6354-8941Rocco, PaoloAerial manipulationaerial roboticsmobile manipulationtrajectory generationClassificació INSPEC::Automation::RobotsÀrees temàtiques de la UPC::Informàtica::Robòtica© 20xx IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.In this paper a trajectory generation approach using quadratic programming is described for aerial manipulation, i.e. for the control of an aerial vehicle equipped with a robot arm. The proposed approach applies the online active set strategy to generate a feasible trajectory of the joints, in order to accomplish a set of tasks with defined bounds and constraint inequalities. The definition of the problem in the acceleration domain allows to integrate and perform a large set of tasks and, as a result, to obtain smooth motion of the joints. A weighting strategy, associated with a normalization procedure, allows to easily define the relative importance of the tasks. This approach is useful to accomplish different phases of a mission with different redundancy resolution strategies. The performance of the proposed technique is demonstrated through real experiments with all the algorithms running onboard in real time. In particular, the aerial manipulator can successfully perform navigation and interaction phases, while keeping motion within prescribed bounds and avoiding collisions with external obstacles.Peer ReviewedInstitute of Electrical and Electronics Engineers (IEEE)20172017-04-0120172017-10-16journal articlehttp://purl.org/coar/resource_type/c_6501AMhttp://purl.org/coar/version/c_ab4af688f83e57aainfo:eu-repo/semantics/articleapplication/pdfhttps://hdl.handle.net/2117/108714https://dx.doi.org/10.1109/LRA.2016.2633625reponame:UPCommons. Portal del coneixement obert de la UPCinstname:Universitat Politècnica de Catalunya (UPC)InglésengEuropean Commission http://doi.org/10.13039/100010661 Horizon 2020 Framework Programme 644271 AErial RObotic system integrating multiple ARMS and advanced manipulation capabilities for inspection and maintenanceopen accesshttp://purl.org/coar/access_right/c_abf2Attribution-NonCommercial-NoDerivs 3.0 Spainhttp://creativecommons.org/licenses/by-nc-nd/3.0/es/info:eu-repo/semantics/openAccessoai:upcommons.upc.edu:2117/1087142026-05-27T15:37:01Z
dc.title.none.fl_str_mv Trajectory generation for unmanned aerial manipulators through quadratic programming
title Trajectory generation for unmanned aerial manipulators through quadratic programming
spellingShingle Trajectory generation for unmanned aerial manipulators through quadratic programming
Rossi, Roberto
Aerial manipulation
aerial robotics
mobile manipulation
trajectory generation
Classificació INSPEC::Automation::Robots
Àrees temàtiques de la UPC::Informàtica::Robòtica
title_short Trajectory generation for unmanned aerial manipulators through quadratic programming
title_full Trajectory generation for unmanned aerial manipulators through quadratic programming
title_fullStr Trajectory generation for unmanned aerial manipulators through quadratic programming
title_full_unstemmed Trajectory generation for unmanned aerial manipulators through quadratic programming
title_sort Trajectory generation for unmanned aerial manipulators through quadratic programming
dc.creator.none.fl_str_mv Rossi, Roberto
Santamaria Navarro, Àngel|||0000-0002-6328-1423
Andrade-Cetto, Juan|||0000-0002-6354-8941
Rocco, Paolo
author Rossi, Roberto
author_facet Rossi, Roberto
Santamaria Navarro, Àngel|||0000-0002-6328-1423
Andrade-Cetto, Juan|||0000-0002-6354-8941
Rocco, Paolo
author_role author
author2 Santamaria Navarro, Àngel|||0000-0002-6328-1423
Andrade-Cetto, Juan|||0000-0002-6354-8941
Rocco, Paolo
author2_role author
author
author
dc.subject.none.fl_str_mv Aerial manipulation
aerial robotics
mobile manipulation
trajectory generation
Classificació INSPEC::Automation::Robots
Àrees temàtiques de la UPC::Informàtica::Robòtica
topic Aerial manipulation
aerial robotics
mobile manipulation
trajectory generation
Classificació INSPEC::Automation::Robots
Àrees temàtiques de la UPC::Informàtica::Robòtica
description © 20xx IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.
publishDate 2017
dc.date.none.fl_str_mv 2017
2017-04-01
2017
2017-10-16
dc.type.none.fl_str_mv journal article
http://purl.org/coar/resource_type/c_6501
AM
http://purl.org/coar/version/c_ab4af688f83e57aa
dc.type.openaire.fl_str_mv info:eu-repo/semantics/article
format article
dc.identifier.none.fl_str_mv https://hdl.handle.net/2117/108714
https://dx.doi.org/10.1109/LRA.2016.2633625
url https://hdl.handle.net/2117/108714
https://dx.doi.org/10.1109/LRA.2016.2633625
dc.language.none.fl_str_mv Inglés
eng
language_invalid_str_mv Inglés
language eng
dc.relation.none.fl_str_mv European Commission http://doi.org/10.13039/100010661 Horizon 2020 Framework Programme 644271 AErial RObotic system integrating multiple ARMS and advanced manipulation capabilities for inspection and maintenance
dc.rights.none.fl_str_mv open access
http://purl.org/coar/access_right/c_abf2
Attribution-NonCommercial-NoDerivs 3.0 Spain
http://creativecommons.org/licenses/by-nc-nd/3.0/es/
dc.rights.openaire.fl_str_mv info:eu-repo/semantics/openAccess
rights_invalid_str_mv open access
http://purl.org/coar/access_right/c_abf2
Attribution-NonCommercial-NoDerivs 3.0 Spain
http://creativecommons.org/licenses/by-nc-nd/3.0/es/
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:UPCommons. Portal del coneixement obert de la UPC
instname:Universitat Politècnica de Catalunya (UPC)
instname_str Universitat Politècnica de Catalunya (UPC)
reponame_str UPCommons. Portal del coneixement obert de la UPC
collection UPCommons. Portal del coneixement obert de la UPC
repository.name.fl_str_mv
repository.mail.fl_str_mv
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score 15.300719

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