Robust Control of the Aerial Manipulator with a Fixed End-effector Position

In recent years, micromanipulators have provided the ability to interact with micro-objects in industrial and biomedical fields. However, traditional manipulators still encounter challenges in gaining the force feedback at the micro-scale. In this paper, we present a micronewton force-controlled two-finger microhand with a soft magnetic end-effector for stable grasping. In this system, a homemade electromagnet was used as the driving device to execute micro-objects manipulation. There were two soft end-effectors with diameters of 300 μm. One was a fixed end-effector that was only made of hydrogel, and the other one was a magnetic end-effector that contained a uniform mixture of polydimethylsiloxane (PDMS) and paramagnetic particles. The magnetic force on the soft magnetic end-effector was calibrated using an atomic force microscopy (AFM) probe. The performance tests demonstrated that the magnetically driven soft microhand had a grasping range of 0–260 μm, which allowed a clamping force with a resolution of 0.48 μN. The stable grasping capability of the magnetically driven soft microhand was validated by grasping different sized microbeads, transport under different velocities, and assembly of microbeads. The proposed system enables force-controlled manipulation, and we believe it has great potential in biological and industrial micromanipulation.

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Robust Control for Autonomous Surveillance with Unmanned Aerial Manipulator

10.1007/978-3-030-87094-2_19 ◽

2021 ◽

pp. 215-226

Author(s):

Weiwei Zhan ◽

Yanjie Chen ◽

Yaonan Wang ◽

Fei Chao ◽

Qiang Shen

Keyword(s):

Robust Control ◽

Aerial Manipulator

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Robust Control for Unmanned Aerial Manipulator Under Disturbances

IEEE Access ◽

10.1109/access.2020.3008971 ◽

2020 ◽

Vol 8 ◽

pp. 129869-129877

Author(s):

Yanjie Chen ◽

Weiwei Zhan ◽

Bingwei He ◽

Lixiong Lin ◽

Zhiqiang Miao ◽

...

Keyword(s):

Robust Control ◽

Aerial Manipulator

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Varying inertial parameters model based robust control for an aerial manipulator

2016 IEEE International Conference on Robotics and Biomimetics (ROBIO) ◽

10.1109/robio.2016.7866404 ◽

2016 ◽

Cited By ~ 2

Author(s):

Guangyu Zhang ◽

Yuqing He ◽

Feng Gu ◽

Jianda Han ◽

Guangjun Liu

Keyword(s):

Robust Control ◽

Model Based ◽

Inertial Parameters ◽

Aerial Manipulator

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Guidance for Autonomous Aerial Manipulator Using Stereo Vision

Journal of Intelligent & Robotic Systems ◽

10.1007/s10846-019-01060-8 ◽

2019 ◽

Vol 100 (3-4) ◽

pp. 1545-1557 ◽

Cited By ~ 1

Author(s):

Christoforos Kanellakis ◽

George Nikolakopoulos

Keyword(s):

Target Location ◽

End Effector ◽

Robotic Arms ◽

New Era ◽

Autonomous Guidance ◽

Aerial Manipulator ◽

Inspection And Maintenance ◽

Infrastructure Inspection ◽

System 1 ◽

Multiple Scenarios

AbstractCombining the agility of Micro Aerial Vehicles (MAV) with the dexterity of robotic arms leads to a new era of Aerial Robotic Workers (ARW) targeting infrastructure inspection and maintenance tasks. Towards this vision, this work focuses on the autonomous guidance of the aerial end-effector to either reach or keep desired distance from areas/objects of interest. The proposed system: 1) is structured around a real-time object tracker, 2) employs stereo depth perception to extract the target location within the surrounding scene, and finally 3) generates feasible poses for both the arm and the MAV relative to the target. The performance of the proposed scheme is experimentally demonstrated in multiple scenarios of increasing complexity.

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Backstepping Sliding Mode Robust Control for a Wire-Driven Parallel Robot Based on a Nonlinear Disturbance Observer

Mathematical Problems in Engineering ◽

10.1155/2020/3146762 ◽

2020 ◽

Vol 2020 ◽

pp. 1-17

Author(s):

Yuqi Wang ◽

Qi Lin ◽

Lei Zhou ◽

Xinxin Shi ◽

Lei Wang

Keyword(s):

Robust Control ◽

Disturbance Observer ◽

Control Method ◽

Sliding Mode ◽

Design Method ◽

Parallel Robot ◽

Parallel Robots ◽

End Effector ◽

Nonlinear Disturbance Observer ◽

Nonlinear Disturbance

Based on a nonlinear disturbance observer, a backstepping sliding mode robust control is proposed for a wire-driven parallel robot (WDPR) system used in the wind tunnel test to dominate the motion of the end effector. The control method combines both the merits of backstepping control and sliding mode robust control. The WDPR is subject to different types of disturbances, and these disturbances will affect the motion precision of the end effector. To overcome these problems, a nonlinear disturbance observer (NDO) is designed to reject such disturbances. In this study, the design method of the nonlinear disturbance observer does not require the reliable dynamic model of the WDPR. Moreover, the design method can be used not only in the WDPR but also in other parallel robots. Then, a backstepping design method is adopted and a sliding mode term is introduced to construct a desired controller, and the disturbances are compensated in the controller to reduce the switching gain and guarantee the robustness. For the sake of verifying the stabilization of the closed-loop system, the Lyapunov function is constructed to analyze the stabilization of the system. Finally, the feasibility and validity of the proposed control scheme are proved through both simulation and experimental results.

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