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2018 | Book

Aerial Manipulation

Authors: Matko Orsag, Prof. Christopher Korpela, Prof. Paul Oh, Prof. Stjepan Bogdan

Publisher: Springer International Publishing

Book Series : Advances in Industrial Control


About this book

This text is a thorough treatment of the rapidly growing area of aerial manipulation. It details all the design steps required for the modeling and control of unmanned aerial vehicles (UAV) equipped with robotic manipulators. Starting with the physical basics of rigid-body kinematics, the book gives an in-depth presentation of local and global coordinates, together with the representation of orientation and motion in fixed- and moving-coordinate systems. Coverage of the kinematics and dynamics of unmanned aerial vehicles is developed in a succession of popular UAV configurations for multirotor systems. Such an arrangement, supported by frequent examples and end-of-chapter exercises, leads the reader from simple to more complex UAV configurations. Propulsion-system aerodynamics, essential in UAV design, is analyzed through blade-element and momentum theories, analysis which is followed by a description of drag and ground-aerodynamic effects.

The central part of the book is dedicated to aerial-manipulator kinematics, dynamics, and control. Based on foundations laid in the opening chapters, this portion of the book is a structured presentation of Newton–Euler dynamic modeling that results in forward and backward equations in both fixed- and moving-coordinate systems. The Lagrange–Euler approach is applied to expand the model further, providing formalisms to model the variable moment of inertia later used to analyze the dynamics of aerial manipulators in contact with the environment. Using knowledge from sensor data, insights are presented into the ways in which linear, robust, and adaptive control techniques can be applied in aerial manipulation so as to tackle the real-world problems faced by scholars and engineers in the design and implementation of aerial robotics systems. The book is completed by path and trajectory planning with vision-based examples for tracking and manipulation.

Table of Contents

Chapter 1. Introduction
Aerial robotics has reached significant maturity in the last few years. Thus, the number of new unmanned aerial vehicles (UAV) and unmanned aerial systems (UAS), applications, and companies producing them has increased in a very important way. The number of publications and presentations in conferences has also experienced a large increase. Moreover, almost every day we can find articles, videos, and news in the general media related to drones.
Anibal Ollero
Chapter 2. Coordinate Systems and Transformations
This chapter describes the coordinate systems used in depicting the position and orientation (pose) of the aerial robot and its manipulator arm(s) in relation to itself and its environment.
Matko Orsag, Christopher Korpela, Paul Oh, Stjepan Bogdan
Chapter 3. Multirotor Aerodynamics and Actuation
The first step toward deriving a real-time controller is to adequately model the dynamics of the system. This approach was utilized since the very beginning of quadrotor research (Bouabdallah, Murrieri, Siegwart, Proceedings - IEEE international conference robotics and automation ICRA ’04, 2004, [4]). As research on micro-aerial vehicle grows (i.e., mobile manipulation, aerobatic moves) (Korpela, Danko, Oh, Proceedings of the international conference on unmanned aerial systems (ICUAS), 2011, [11], Mellinger, Lindsey, Shomin, Kumar, Proceeding IEEE/RSJ international conference intelligent robots and systems (IROS), 2011, [13]), the need for an elaborate mathematical model arises. The model needs to incorporate a full spectrum of aerodynamic effects that act on the quadrotor during climb, descent, and forward flight. To derive a more complete mathematical model of a quadrotor, one needs to start with basic concepts of momentum theory and blade elemental theory.
Matko Orsag, Christopher Korpela, Paul Oh, Stjepan Bogdan
Chapter 4. Aerial Manipulator Kinematics
In classical robotics, robotic manipulators are composed of links connected through joints to form a so-called kinematic chain (Siciliano and Khatib, Springer handbook of robotics, 2008, [6]). Normally, this kinematic chain consists of two separate groups, manipulator and endeffector. However, in aerial and mobile robotics, we go a step further to augment this manipulator with a mobile base.
Matko Orsag, Christopher Korpela, Paul Oh, Stjepan Bogdan
Chapter 5. Aerial Manipulator Dynamics
In order for us to be able to control the end-effector of a robotic manipulator, first we need to understand and mathematically model its dynamics. There are two approaches mainly used to model manipulator dynamics: Lagrange–Euler and Newton–Euler.
Matko Orsag, Christopher Korpela, Paul Oh, Stjepan Bogdan
Chapter 6. Sensors and Control
As with all UAS, sensors play an integral part in environmental interaction, pose estimation, and safety. Microelectronics and the software controlling them have drastically changed in recent years. The open-source software community continues to rapidly expand. The nature of the open-source software and maker communities has produced software and electronic components that can be easily combined creating new capabilities.
Matko Orsag, Christopher Korpela, Paul Oh, Stjepan Bogdan
Chapter 7. Mission Planning and Control
Unmanned aerial vehicles have attracted significant attention for a variety of structural inspection operations, for their ability to move in unstructured environments [3]. Typical examples include bridge inspection [26], power plant inspection [4], wind farm inspection [29], and maritime surveillance [28].
Matko Orsag, Christopher Korpela, Paul Oh, Stjepan Bogdan
Erratum to: Introduction
Anibal Ollero
Aerial Manipulation
Matko Orsag
Prof. Christopher Korpela
Prof. Paul Oh
Prof. Stjepan Bogdan
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