aerial manipulator
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Mechatronics ◽  
2022 ◽  
Vol 82 ◽  
pp. 102719
Author(s):  
Nursultan Imanberdiyev ◽  
Sumil Sood ◽  
Dogan Kircali ◽  
Erdal Kayacan

2021 ◽  
Author(s):  
Eugenio Cuniato ◽  
Jonathan Cacace ◽  
Mario Selvaggio ◽  
Fabio Ruggiero ◽  
Vincenzo Lippiello

2021 ◽  
pp. 215-226
Author(s):  
Weiwei Zhan ◽  
Yanjie Chen ◽  
Yaonan Wang ◽  
Fei Chao ◽  
Qiang Shen

2021 ◽  
Vol 11 (1) ◽  
Author(s):  
Le Ma ◽  
Yiming Yan ◽  
Zhiwei Li ◽  
Jie Liu

AbstractThis paper proposes a fully-actuated control method for a novel aerial manipulation system (AMS). A customized carbon frame structure supports the servo actuators, on which eight propellers group into pairs located. We present kinematics and dynamics modeling of the AMS based on Craig parameter method and recursive Newton–Euler equation, respectively. Then, an Active disturbance rejection control (ADRC)—Backstepping—Compensation controller is designed to control the exact position and orientation of the manipulator in the Cartesian space. Finally, the performance of the system is demonstrated through simulations and virtual experiments.


2021 ◽  
Vol 11 (19) ◽  
pp. 9157
Author(s):  
Hannibal Paul ◽  
Ryo Miyazaki ◽  
Takamasa Kominami ◽  
Robert Ladig ◽  
Kazuhiro Shimonomura

UAVs are one of the fastest types of robots that can be deployed in a remote environment. Unfortunately, they have a limited flight time and therefore may need to stop occasionally in an unknown, uncontrolled area. However, conventional UAVs require flat and stationary surfaces for a safe landing and take-off. Some studies on adaptive landing approach for UAVs can be found in the past, but adaptive take-off from non-flat surfaces has not been discussed for the most part, yet. In this work, we discuss the problems associated with a conventional UAV take-off from non-flat surfaces and provide a novel approach for UAV take-off from a sloped or rocking surface. We also discuss the design of a novel multitasking three-arm aerial manipulator system with parallel link mechanism and achieve the above-mentioned task. With experiments, we show that the system can provide stability for a UAV landing on a rocking surface that allows for a safe take-off.


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