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Classification of Aerial Manipulation Systems and Algorithms for Controlling the Movement of Onboard Manipulator

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Interactive Collaborative Robotics (ICR 2021)

Part of the book series: Lecture Notes in Computer Science ((LNAI,volume 12998))

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Abstract

Instrumentation of an unmanned aerial vehicle (UAV) with devices for physical interaction with ground-based objects is a popular scientific branch in the domain of robotics. Physical interaction of an onboard aerial manipulation system with objects complicates the UAV stabilization process, what, in turn, impairs the positioning of UAV and reduces navigational accuracy of the moving end of the mechanism. In this paper, the problem of the manipulator motion control for an unmanned aerial vehicle is considered. We also propose algorithms for the calculation of the angles of joints of the manipulator, based on the solutions of the direct and inverse kinematics problems. The developed algorithms ensure retaining of the center of mass of an aerial manipulator system on the vertical axis and minimum displacement of the center of mass horizontally when moving the end mechanism along the reference trajectory.

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Author information

Authors and Affiliations

  1. St. Petersburg Federal Research Center of the Russian Academy of Sciences (SPC RAS), 14-th line of V.I. 39, 199178, St. Petersburg, Russia

    Vinh Nguyen, Quyen Vu & Andrey Ronzhin

  2. Le Quy Don Technical University, 236 Hoang Quoc Viet, 10000, Hanoi, Vietnam

    Tien Ngo

Authors
  1. Vinh Nguyen
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  2. Tien Ngo
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  3. Quyen Vu
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  4. Andrey Ronzhin
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Corresponding author

Correspondence to Andrey Ronzhin .

Editor information

Editors and Affiliations

  1. St. Petersburg Federal Research Center of the Russian Academy of Sciences, St. Petersburg, Russia

    Andrey Ronzhin

  2. Technical University of Munich, Munich, Germany

    Gerhard Rigoll

  3. V. A. Trapeznikov Institute of Control Sciences, Moscow, Russia

    Roman Meshcheryakov

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Nguyen, V., Ngo, T., Vu, Q., Ronzhin, A. (2021). Classification of Aerial Manipulation Systems and Algorithms for Controlling the Movement of Onboard Manipulator. In: Ronzhin, A., Rigoll, G., Meshcheryakov, R. (eds) Interactive Collaborative Robotics. ICR 2021. Lecture Notes in Computer Science(), vol 12998. Springer, Cham. https://doi.org/10.1007/978-3-030-87725-5_13

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  • DOI: https://doi.org/10.1007/978-3-030-87725-5_13

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-030-87724-8

  • Online ISBN: 978-3-030-87725-5

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