Modelling and control of an aerial manipulator consisting of an autonomous helicopter equipped with a multi-link robotic arm

2015 ◽  
Vol 230 (10) ◽  
pp. 1860-1870 ◽  
Author(s):  
AE Jimenez-Cano ◽  
G Heredia ◽  
M Bejar ◽  
K Kondak ◽  
A Ollero
Keyword(s):  
Robotic Arm ◽  
Aerial Manipulator ◽  
Autonomous Helicopter ◽  
And Control

Control of an Aerial Manipulator Using a Quadrotor with a Replaceable Robotic Arm

2021 ◽  
Author(s):  
Zizhen Ouyang ◽  
Ruidong Mei ◽  
Zisen Liu ◽  
Mingxin Wei ◽  
Zida Zhou ◽  
...  
Keyword(s):  
Robotic Arm ◽  
Aerial Manipulator

scholarly journals Closed-Loop Behavior of an Autonomous Helicopter Equipped with a Robotic Arm for Aerial Manipulation Tasks

10.5772/53754 ◽  
2013 ◽  
Vol 10 (2) ◽  
pp. 145 ◽  
Author(s):  
Konstantin Kondak ◽  
Kai Krieger ◽  
Alin Albu-Schaeffer ◽  
Marc Schwarzbach ◽  
Maximilian Laiacker ◽  
...  
Keyword(s):  
Closed Loop ◽  
Robotic Arm ◽  
Aerial Manipulation ◽  
Autonomous Helicopter

scholarly journals Simulating 3r robot dynamics using imported cad in Maplesim

2020 ◽  
pp. 401-413
Keyword(s):  
Degrees Of Freedom ◽  
Research Field ◽  
Robotic Arm ◽  
Robot Dynamics ◽  
Industrial Education ◽  
Learning And Teaching ◽  
Manufacturing Efficiency ◽  
Potential Basis ◽  
And Control ◽  
Support Research

With the development of information technology, many applications of robots are increasingly being applied to support research, learning, and teaching. This paper mainly investigates the modeling and simulation of a robotic arm with 3 degrees of freedom (dofs) for different applications. First, Kinematics and dynamics model of the robot based on the standard Denavit Hartenberg (D-H) modeling method, where the forward kinematics of robot is analyzed and computed to obtain by using the inverse kinematics, and then the solution of the robot dynamics is derived. Second, a CAD model of the robot is designed on CATIA software to convert to MapleSim software to simulation and control. Final, numerical simulation is presented to display results. This work provides a potential basis for the realization of the robotic arm in the industrial, education, and research field, which is of great significance for improving manufacturing efficiency and support teaching and research in the robot field.

scholarly journals Laboratory environment monitoring and specimen transport robots

2019 ◽  
Vol 8 (4) ◽  
pp. 313
Author(s):  
Yi-Chang Wu ◽  
Huan-Chun Wang
Keyword(s):  
Operating System ◽  
Resource Allocation ◽  
Humidity Sensor ◽  
The Other ◽  
Robotic Arm ◽  
Environment Monitoring ◽  
Thermal Camera ◽  
Laboratory Environment ◽  
Robot Operating System ◽  
And Control

Robots have been used in various areas to replace manpower, reduce costs, and facilitate more effective resource allocation. This study sought to assist the business of the bureau by developing two robots using the Robot Operating System. The developed robots have autonomous intelligent navigation functions and are suited to monitor the environment of <br /> the laboratories in the bureau. One robot had a temperature and humidity sensor and an infrared thermal camera, and it could be used to patrol and monitor the laboratory environment. The other robot had drawers in which specimens could be placed; robotic arm in the elevator could coordinate and control elevators, enabling the robot to move and transport specimens autonomously. Plenty of tests were conducted to verify the feasibility <br /> and practicality.

Design and Control of a Small Aerial Manipulator for Indoor Environments

2017 ◽  
Author(s):  
Robert M. Jones ◽  
Donglei Sun ◽  
Gabriel Barsi Haberfeld ◽  
Arun Lakshmanan ◽  
Thiago Marinho ◽  
...  
Keyword(s):  
Indoor Environments ◽  
Aerial Manipulator ◽  
And Control

Intelligent Motion Planning and Control for Robotic Joints Using Bio-Inspired Spiking Neural Networks

2019 ◽  
Vol 16 (04) ◽  
pp. 1950012 ◽  
Author(s):  
Mircea Hulea ◽  
Adrian Burlacu ◽  
Constantin-Florin Caruntu
Keyword(s):  
Neural Network ◽  
Neural Networks ◽  
Motion Planning ◽  
Control Method ◽  
Inhibitory Neurons ◽  
Robotic Arm ◽  
Control Approach ◽  
Planning And Control ◽  
Robotic Joints ◽  
And Control

This paper details an intelligent motion planning and control approach for a one-degree of freedom joint of a robotic arm that can be used to implement anthropomorphic robotic hands. This intelligent control method is based on bio-inspired electronic neural networks and contractile artificial muscles implemented with shape memory alloy (SMA) actuators. The spiking neural network (SNN) includes several excitatory neurons that naturally determine the contraction force of the actuators, and unevenly distributed inhibitory neurons that regulate the excitatory activity. To validate the proposed concept, the experiments highlight the motion planning and control of a single-joint robotic arm. The results show that the electronic neural network is able to intelligently activate motion and hold with high precision the mobile link to the target positions even if the arm is slightly loaded. These results are encouraging for the development of improved biologically plausible neural structures that are able to control simultaneously multiple muscles.

Survey on Aerial Manipulator: System, Modeling, and Control

Robotica ◽  
2019 ◽  
Vol 38 (7) ◽  
pp. 1288-1317 ◽  
Author(s):  
Xiangdong Meng ◽  
Yuqing He ◽  
Jianda Han
Keyword(s):  
System Modeling ◽  
Future Research ◽  
Typical Application ◽  
Modeling And Control ◽  
Aerial Manipulator ◽  
Initial Appearance ◽  
Aerial Vehicle ◽  
New Type ◽  
And Control ◽  
Flying Robot

SUMMARYThe aerial manipulator is a special and new type of flying robot composed of a rotorcraft unmanned aerial vehicle (UAV) and a/several manipulator/s. It has gained a lot of attention since its initial appearance in 2010. This is mainly because it enables traditional UAVs to conduct versatile manipulating tasks from air, considerably enriching their applications. In this survey, a complete and systematic review of related research on this topic is conducted. First, various types of structure designs of aerial manipulators are listed out. Subsequently, the modeling and control methods are introduced in detail from the perspective of two types of typical application cases: free-flight and motion-restricted operations. Finally, challenges for future research are presented.

scholarly journals Design, fabrication, modeling and control of a fabric-based spherical robotic arm

Mechatronics ◽  
2020 ◽  
Vol 68 ◽  
pp. 102369
Author(s):  
Matthias Hofer ◽  
Raffaello D’Andrea
Keyword(s):  
Robotic Arm ◽  
Modeling And Control ◽  
And Control

scholarly journals Controlling a robotic arm with Augmented reality

2020 ◽  
Vol 305 ◽  
pp. 00022
Author(s):  
Marius Leonard Olar ◽  
Marius Risteiu ◽  
Arun Fabian Panaite ◽  
Mihai Rebrisoreanu ◽  
Oliviu Musetoiu
Keyword(s):  
Augmented Reality ◽  
Mobile Devices ◽  
Upper Limb ◽  
Robotic Arm ◽  
The Internet ◽  
Smart Objects ◽  
Remote Supervision ◽  
Internet Connection ◽  
The Patient’S View ◽  
And Control

Under the circumstances of a patient’s upper limb disability, aided by a robotic arm with faulty controls, assistance is needed, using augmented reality as an auxiliary. Our system, with a headset, using an internet connection and an augmented reality device, placed on the assistant’s head, can ensure communication between the two, for both remote supervision and control. The assistant can enhance the control over the robotic arm, while having a head up display on the augmented reality glasses, based on what the patient sees. The communication is established through PC or mobile devices, connected to the internet. Having the patient’s view, and enhanced control over the robotic arm, the assistant can interact with nearby smart objects.

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