Nothing Special   »   [go: up one dir, main page]
Skip to main content
Springer Nature Link
Log in

Modeling and Control of MM-UAV: Mobile Manipulating Unmanned Aerial Vehicle

  • Published:
Journal of Intelligent & Robotic Systems Aims and scope Submit manuscript

Abstract

Compared to autonomous ground vehicles, UAVs (unmanned aerial vehicles) have significant mobility advantages and the potential to operate in otherwise unreachable locations. Micro UAVs still suffer from one major drawback: they do not have the necessary payload capabilities to support high performance arms. This paper, however, investigates the key challenges in controlling a mobile manipulating UAV using a commercially available aircraft and a light-weight prototype 3-arm manipulator. Because of the overall instability of rotorcraft, we use a motion capture system to build an efficient autopilot. Our results indicate that we can accurately model and control our prototype system given significant disturbances when both moving the manipulators and interacting with the ground.

This is a preview of subscription content, log in via an institution to check access.

Access this article

Log in via an institution

Subscribe and save

Springer+ Basic
$34.99 /Month
  • Get 10 units per month
  • Download Article/Chapter or eBook
  • 1 Unit = 1 Article or 1 Chapter
  • Cancel anytime
Subscribe now

Buy Now

Price excludes VAT (USA)
Tax calculation will be finalised during checkout.

Instant access to the full article PDF.

Institutional subscriptions

Similar content being viewed by others

Explore related subjects

Discover the latest articles, news and stories from top researchers in related subjects.

References

  1. Bernard, M., Kondak, K.: Generic slung load transportation system using small size helicopters. In: Proc. IEEE Int. Conf. Robotics and Automation ICRA ’09, pp. 3258–3264 (2009)

  2. Kuntz, N.R., Oh, P.Y.: Towards autonomous cargo deployment and retrieval by an unmanned aerial vehicle using visual servoing. ASME Conf. Proc. 2008(43260), 841–849 (2008)

    Google Scholar 

  3. Mellinger, D., Lindsey, Q., Shomin, M., Kumar, V.: Design, modeling, estimation and control for aerial grasping and manipulation. In: Proc. IEEE/RSJ Int Intelligent Robots and Systems (IROS) Conf, pp. 2668–2673 (2011)

  4. Pounds, P.E.I., Bersak, D.R., Dollar, A.M.: Grasping from the air: hovering capture and load stability. In: Proc. IEEE Int Robotics and Automation (ICRA) Conf, pp. 2491–2498 (2011)

  5. Korpela, C.M., Danko, T.W., Oh, P.Y.: MM-UAV: mobile manipulating unmanned aerial vehicle. J. Intell. Robot. Syst. 65(1–4), 93–101 (2012)

    Article  Google Scholar 

  6. Korpela, C., Orsag, M., Danko, T., Kobe, B., McNeil, C., Pisch, R., Oh, P.: Flight satbility in aerial redundant manipulators. In: Proc. IEEE Int Robotics and Automation (ICRA) Conf. (2012)

  7. Korpela, C.M., Danko, T.W., Oh, P.Y.: Designing a system for mobile manipulation from an unmanned aerial vehicle. In: Proc. IEEE Conf. Technologies for Practical Robot Applications (TePRA), pp. 109–114 (2011)

  8. Aghili, F.: Optimal control of a space manipulator for detumbling of a target satellite. In: Proc. IEEE Int. Conf. Robotics and Automation ICRA ’09, pp. 3019–3024 (2009)

  9. Dimitrov, D.N., Yoshida, K.: Momentum distribution in a space manipulator for facilitating the post-impact control. In: Proc. IEEE/RSJ Int. Conf. Intelligent Robots and Systems (IROS 2004), vol. 4, pp. 3345–3350 (2004)

  10. Ishitsuka, M., Ishii, K.: Modularity development and control of an underwater manipulator for auv. In: Proc. IEEE/RSJ Int. Conf. Intelligent Robots and Systems IROS 2007, pp. 3648–3653 (2007)

  11. Nenchev, D.N., Yoshida, K., Vichitkulsawat, P., Uchiyama, M.: Reaction null-space control of flexible structure mounted manipulator systems. IEEE Trans. Robot. Autom. 15(6), 1011–1023 (1999)

    Article  Google Scholar 

  12. Hoffmann, G.M., Huang, H., Wasl, S.L., Tomlin, E.C.J.: Quadrotor helicopter flight dynamics and control: theory and experiment. In: Proc. of the AIAA Guidance, Navigation, and Control Conference (2007)

  13. McMillan, S., Orin, D.E., McGhee, R.B.: Efficient dynamic simulation of an underwater vehicle with a robotic manipulator. IEEE Trans. Syst. Man Cybern. 25, 1194–1206 (1995)

    Article  Google Scholar 

  14. Siciliano, B., Sciavicco, L., Villani, L., Oriolo, G.: Robotics: Modelling, Planning and Control, 1st edn. Springer Publishing Company, Incorporated (2008)

  15. Jazar, R.: Theory of Applied Robotics: Kinematics, Dynamics, and Control, 2nd edn. Springer, New York (2010).

    MATH  Google Scholar 

  16. Corke, P.: A robotics toolbox for MATLAB. IEEE Robot. Autom. Mag. 3(1), 24–32 (1996)

    Article  Google Scholar 

  17. Craig, J.J.: Introduction to Robotics: Mechanics and Control. Addison-Wesley series in electrical and computer engineering: Control engineering. Addison-Wesley (1989)

Download references

Author information

Authors and Affiliations

  1. Drexel Autonomous Systems Lab, Drexel Univeristy, 3141 Chestnut Street, Philadelphia, PA, 19104, USA

    Matko Orsag, Christopher Korpela & Paul Oh

Authors
  1. Matko Orsag
    View author publications

    You can also search for this author in PubMed Google Scholar

  2. Christopher Korpela
    View author publications

    You can also search for this author in PubMed Google Scholar

  3. Paul Oh
    View author publications

    You can also search for this author in PubMed Google Scholar

Corresponding author

Correspondence to Christopher Korpela.

Rights and permissions

Reprints and permissions

About this article

Cite this article

Orsag, M., Korpela, C. & Oh, P. Modeling and Control of MM-UAV: Mobile Manipulating Unmanned Aerial Vehicle. J Intell Robot Syst 69, 227–240 (2013). https://doi.org/10.1007/s10846-012-9723-4

Download citation

  • Received:

  • Accepted:

  • Published:

  • Issue Date:

  • DOI: https://doi.org/10.1007/s10846-012-9723-4

Keywords

Search

Navigation