Aerial Manipulation

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Aerial Manipulation

Matko Orsag,Christopher Korpela,Paul Oh,Stjepan Bogdan
Aerial Manipulation Book PDF

Author : Matko Orsag,Christopher Korpela,Paul Oh,Stjepan Bogdan
Publisher : Springer
Page : 235 pages
File Size : 55,5 Mb
Release : 2017-09-19
Category : Technology & Engineering
ISBN : 9783319610221

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Aerial Manipulation by Matko Orsag,Christopher Korpela,Paul Oh,Stjepan Bogdan Pdf

This text is a thorough treatment of the rapidly growing area of aerial manipulation. It details all the design steps required for the modeling and control of unmanned aerial vehicles (UAV) equipped with robotic manipulators. Starting with the physical basics of rigid-body kinematics, the book gives an in-depth presentation of local and global coordinates, together with the representation of orientation and motion in fixed- and moving-coordinate systems. Coverage of the kinematics and dynamics of unmanned aerial vehicles is developed in a succession of popular UAV configurations for multirotor systems. Such an arrangement, supported by frequent examples and end-of-chapter exercises, leads the reader from simple to more complex UAV configurations. Propulsion-system aerodynamics, essential in UAV design, is analyzed through blade-element and momentum theories, analysis which is followed by a description of drag and ground-aerodynamic effects. The central part of the book is dedicated to aerial-manipulator kinematics, dynamics, and control. Based on foundations laid in the opening chapters, this portion of the book is a structured presentation of Newton–Euler dynamic modeling that results in forward and backward equations in both fixed- and moving-coordinate systems. The Lagrange–Euler approach is applied to expand the model further, providing formalisms to model the variable moment of inertia later used to analyze the dynamics of aerial manipulators in contact with the environment. Using knowledge from sensor data, insights are presented into the ways in which linear, robust, and adaptive control techniques can be applied in aerial manipulation so as to tackle the real-world problems faced by scholars and engineers in the design and implementation of aerial robotics systems. The book is completed by path and trajectory planning with vision-based examples for tracking and manipulation.

Design, Modeling and Control of Aerial Robots for Physical Interaction and Manipulation

Burak Yüksel
Design Modeling and Control of Aerial Robots for Physical Interaction and Manipulation Book PDF

Author : Burak Yüksel
Publisher : Logos Verlag Berlin GmbH
Page : 219 pages
File Size : 47,7 Mb
Release : 2017-06-10
Category : Technology & Engineering
ISBN : 9783832544928

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Design, Modeling and Control of Aerial Robots for Physical Interaction and Manipulation by Burak Yüksel Pdf

Aerial robots, meaning robots with flying capabilities, are essentially robotic platforms, which are autonomously controlled via some sophisticated control engineering tools. Similar to aerial vehichles, they can overcome the gravitational forces thanks to their design and/or actuation type. What makes them different from the conventional aerial vehicles, is the level of their autonomy. Reducing the complexity for piloting of such robots/vehicles provide the human operator more freedom and comfort. With their increasing autonomy, they can perform many complicated tasks by their own (such as surveillance, monitoring, or inspection), leaving the human operator the most high-level decisions to be made, if necessary. In this way they can be operated in hazardous and challenging environments, which might posses high risks to the human health. Thanks to their wide range of usage, the ongoing researches on aerial robots is expected to have an increasing impact on the human life. Aerial Physical Interaction (APhI) is a case, in which the aerial robot exerts meaningful forces and torques (wrench) to its environment while preserving its stable flight. In this case, the robot does not try avoiding every obstacle in its environment, but prepare itself for embracing the effect of a physical interaction, furthermore turn this interaction into some meaningful robotic tasks. Aerial manipulation can be considered as a subset of APhI, where the flying robot is designed and controlled in purpose of manipulating its environment. A clear motivation of using aerial robots for physical interaction, is to benefit their great workspace and agility. Moreover, developing robots that can perform not only APhI but also aerial manipulation can bring the great workspace of the flying robots together with the vast dexterity of the manipulating arms. This thesis work is addressing the design, modeling and control problem of these aerial robots for the purpose of physical interaction and manipulation. Using the nonlinear mathematical models of the robots at hand, in this thesis several different control methods (IDA-PBC, Exact Linearization, Differential Flatness Based Control) for APhI and aerial manipulation tasks have been developed and proposed. Furthermore, novel design tools (e.g. new rigid/elastic manipulating arms, hardware, software) to be used together with miniature aerial robots are presented within this thesis, which contributes to the robotics society not only in terms of concrete theory but also practical implementation and experimental robotics.

Aerial Robotic Manipulation

Anibal Ollero,Bruno Siciliano
Aerial Robotic Manipulation Book PDF

Author : Anibal Ollero,Bruno Siciliano
Publisher : Springer
Page : 385 pages
File Size : 44,8 Mb
Release : 2019-06-27
Category : Technology & Engineering
ISBN : 9783030129453

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Aerial Robotic Manipulation by Anibal Ollero,Bruno Siciliano Pdf

Aerial robotic manipulation integrates concepts and technologies coming from unmanned aerial systems and robotics manipulation. It includes not only kinematic, dynamics, aerodynamics and control but also perception, planning, design aspects, mechatronics and cooperation between several aerial robotics manipulators. All these topics are considered in this book in which the main research and development approaches in aerial robotic manipulation are presented, including the description of relevant systems. In addition of the research aspects, the book also includes the deployment of real systems both indoors and outdoors, which is a relevant characteristic of the book because most results of aerial robotic manipulation have been validated only indoor using motion tracking systems. Moreover, the book presents two relevant applications: structure assembly and inspection and maintenance, which has started to be applied in the industry. The Chapters of the book will present results of two main European Robotics Projects in aerial robotics manipulation: FP7 ARCAS and H2020 AEROARMS. FP7 ARCAS defined the basic concepts on aerial robotic manipulation, including cooperative manipulation. The H2020 AEROARMS on aerial robot with multiple arms and advanced manipulation capabilities for inspection and maintenance has two general objectives: (1) development of advanced aerial robotic manipulation methods and technologies, including manipulation with dual arms and multi-directional thrusters aerial platforms; and (2) application to the inspection and maintenance.

Ground and Air Robotic Manipulation Systems in Agriculture

Andrey Ronzhin,Tien Ngo,Quyen Vu,Vinh Nguyen
Ground and Air Robotic Manipulation Systems in Agriculture Book PDF

Author : Andrey Ronzhin,Tien Ngo,Quyen Vu,Vinh Nguyen
Publisher : Springer Nature
Page : 283 pages
File Size : 41,7 Mb
Release : 2021-09-10
Category : Technology & Engineering
ISBN : 9783030868260

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Ground and Air Robotic Manipulation Systems in Agriculture by Andrey Ronzhin,Tien Ngo,Quyen Vu,Vinh Nguyen Pdf

Problems of joint application of heterogeneous ground and air robotic means while performing the agricultural technological tasks that require physical interaction with agricultural products and the environment are discussed in the book. Proposed solutions for the exchange of energy and physical resources of unmanned aerial vehicles on ground service platforms, automation of the process of collecting agricultural products and ensuring the stability of the air manipulation system at physical interaction with a ground object are important for the transport and agricultural industry robotization. The book addresses the researchers investigating interdisciplinary issues of agricultural production robotization, problems of information, physical and energy interaction of ground and air robots; recommended to postgraduates and students studying "Mechatronics and robotics" and "Technologies, mechanization and power equipment in agriculture, forestry and fisheries."

Visual Guidance of Unmanned Aerial Manipulators

Angel Santamaria-Navarro,Joan Solà,Juan Andrade-Cetto
Visual Guidance of Unmanned Aerial Manipulators Book PDF

Author : Angel Santamaria-Navarro,Joan Solà,Juan Andrade-Cetto
Publisher : Springer
Page : 140 pages
File Size : 53,9 Mb
Release : 2018-08-18
Category : Technology & Engineering
ISBN : 9783319965802

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Visual Guidance of Unmanned Aerial Manipulators by Angel Santamaria-Navarro,Joan Solà,Juan Andrade-Cetto Pdf

This monograph covers theoretical and practical aspects of the problem of autonomous guiding of unmanned aerial manipulators using visual information. For the estimation of the vehicle state (position, orientation, velocity, and acceleration), the authors propose a method that relies exclusively on the use of low-cost and highrate sensors together with low-complexity algorithms. This is particularly interesting for applications in which on board computation with low computation power is needed. Another relevant topic covered in this monograph is visual servoing. The authors present an uncalibrated visual servo scheme, capable of estimating at run time, the camera focal length from the observation of a tracked target. The monograph also covers several control techniques, which achieve a number of tasks, such as robot and arm positioning, improve stability and enhance robot arm motions. All methods discussed in this monograph are demonstrated in simulation and through real robot experimentation. The text is appropriate for readers interested in state estimation and control of aerial manipulators, and is a reference book for people who work in mobile robotics research in general.

Interactive Collaborative Robotics

Andrey Ronzhin,Gerhard Rigoll,Roman Meshcheryakov
Interactive Collaborative Robotics Book PDF

Author : Andrey Ronzhin,Gerhard Rigoll,Roman Meshcheryakov
Publisher : Springer Nature
Page : 241 pages
File Size : 45,7 Mb
Release : 2021-09-23
Category : Computers
ISBN : 9783030877255

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Interactive Collaborative Robotics by Andrey Ronzhin,Gerhard Rigoll,Roman Meshcheryakov Pdf

This book constitutes the proceedings of the 6th International Conference on Interactive Collaborative Robotics, ICR 2021, held in St. Petersburg, Russia, in October 2021. The 19 papers presented were carefully reviewed and selected from 40 submissions. Challenges of human-robot interaction, robot control and behavior in social robotics and collaborative robotics, as well as applied robotic and cyber-physical systems are mainly discussed in the papers.

2016 International Symposium on Experimental Robotics

Dana Kulić,Yoshihiko Nakamura,Oussama Khatib,Gentiane Venture
2016 International Symposium on Experimental Robotics Book PDF

Author : Dana Kulić,Yoshihiko Nakamura,Oussama Khatib,Gentiane Venture
Publisher : Springer
Page : 858 pages
File Size : 52,6 Mb
Release : 2017-03-20
Category : Technology & Engineering
ISBN : 9783319501154

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2016 International Symposium on Experimental Robotics by Dana Kulić,Yoshihiko Nakamura,Oussama Khatib,Gentiane Venture Pdf

Experimental Robotics XV is the collection of papers presented at the International Symposium on Experimental Robotics, Roppongi, Tokyo, Japan on October 3-6, 2016. 73 scientific papers were selected and presented after peer review. The papers span a broad range of sub-fields in robotics including aerial robots, mobile robots, actuation, grasping, manipulation, planning and control and human-robot interaction, but shared cutting-edge approaches and paradigms to experimental robotics. The readers will find a breadth of new directions of experimental robotics. The International Symposium on Experimental Robotics is a series of bi-annual symposia sponsored by the International Foundation of Robotics Research, whose goal is to provide a forum dedicated to experimental robotics research. Robotics has been widening its scientific scope, deepening its methodologies and expanding its applications. However, the significance of experiments remains and will remain at the center of the discipline. The ISER gatherings are a venue where scientists can gather and talk about robotics based on this central tenet.

ROBOT2022: Fifth Iberian Robotics Conference

Danilo Tardioli,Vicente Matellán,Guillermo Heredia,Manuel F. Silva,Lino Marques
ROBOT2022 Fifth Iberian Robotics Conference Book PDF

Author : Danilo Tardioli,Vicente Matellán,Guillermo Heredia,Manuel F. Silva,Lino Marques
Publisher : Springer Nature
Page : 616 pages
File Size : 55,7 Mb
Release : 2022-11-18
Category : Technology & Engineering
ISBN : 9783031210655

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ROBOT2022: Fifth Iberian Robotics Conference by Danilo Tardioli,Vicente Matellán,Guillermo Heredia,Manuel F. Silva,Lino Marques Pdf

This book contains a selection of papers accepted for presentation and discussion at ROBOT 2022—Fifth Iberian Robotics Conference, held in Zaragoza, Spain, on November 23-25, 2022. ROBOT 2022 is part of a series of conferences that are a joint organization of SEIDROB—Sociedad Española para la Investigación y Desarrollo en Robótica/Spanish Society for Research and Development in Robotics, and SPR—Sociedade Portuguesa de Robótica/Portuguese Society for Robotic. ROBOT 2022 builds upon several previous successful events, including three biennial workshops and the four previous editions of the Iberian Robotics Conference, and is focused on presenting the research and development of new applications, on the field of Robotics, in the Iberian Peninsula, although open to research and delegates from other countries. ROBOT 2022 featured four plenary talks on state-of-the-art subjects on robotics and 15 special sessions, plus a main/general robotics track. In total, after a careful review process, 98 high-quality papers were selected for publication, with a total of 219 unique authors, from 22 countries.

Proceedings of 15th International Conference on Electromechanics and Robotics "Zavalishin's Readings"

Andrey Ronzhin,Vladislav Shishlakov
Proceedings of 15th International Conference on Electromechanics and Robotics Zavalishin s Readings Book PDF

Author : Andrey Ronzhin,Vladislav Shishlakov
Publisher : Springer Nature
Page : 553 pages
File Size : 52,9 Mb
Release : 2020-09-01
Category : Technology & Engineering
ISBN : 9789811555800

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Proceedings of 15th International Conference on Electromechanics and Robotics "Zavalishin's Readings" by Andrey Ronzhin,Vladislav Shishlakov Pdf

This book features selected papers presented at the 15th International Conference on Electromechanics and Robotics “Zavalishin's Readings” – ER(ZR) 2020, held in Ufa, Russia, on 15–18 April 2020. The contributions, written by professionals, researchers and students, cover topics in the field of automatic control systems, electromechanics, electric power engineering and electrical engineering, mechatronics, robotics, automation and vibration technologies. The Zavalishin's Readings conference was established as a tribute to the memory of Dmitry Aleksandrovich Zavalishin (1900–1968) – a Russian scientist, corresponding member of the USSR Academy of Sciences and founder of the school of valve energy converters based on electric machines and valve converters energy. The first conference was organized by the Institute of Innovative Technologies in Electromechanics and Robotics at the Saint Petersburg State University of Aerospace Instrumentation in 2006.

Robotics Research

Tamim Asfour,Eiichi Yoshida,Jaeheung Park,Henrik Christensen,Oussama Khatib
Robotics Research Book PDF

Author : Tamim Asfour,Eiichi Yoshida,Jaeheung Park,Henrik Christensen,Oussama Khatib
Publisher : Springer Nature
Page : 1023 pages
File Size : 52,6 Mb
Release : 2022-02-17
Category : Technology & Engineering
ISBN : 9783030954598

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Robotics Research by Tamim Asfour,Eiichi Yoshida,Jaeheung Park,Henrik Christensen,Oussama Khatib Pdf

This book contains the papers that were presented at the 17th International Symposium of Robotics Research (ISRR). The ISRR promotes the development and dissemination of groundbreaking research and technological innovation in robotics useful to society by providing a lively, intimate, forward-looking forum for discussion and debate about the current status and future trends of robotics with great emphasis on its potential role to benefit humankind. The symposium contributions contained in this book report on a variety of new robotics research results covering a broad spectrum organized into the categories: design, control; grasping and manipulation, planning, robot vision, and robot learning.

Advances in Italian Mechanism Science

Vincenzo Niola,Alessandro Gasparetto
Advances in Italian Mechanism Science Book PDF

Author : Vincenzo Niola,Alessandro Gasparetto
Publisher : Springer Nature
Page : 902 pages
File Size : 40,5 Mb
Release : 2020-08-19
Category : Technology & Engineering
ISBN : 9783030558079

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Advances in Italian Mechanism Science by Vincenzo Niola,Alessandro Gasparetto Pdf

This book presents the proceedings of the 3rd International Conference of IFToMM ITALY, held online on September 9-11, 2020. It includes peer-reviewed papers on the latest advances in mechanism and machine science, discussing topics such as biomechanical engineering, computational kinematics, the history of mechanism and machine science, gearing and transmissions, multi-body dynamics, robotics and mechatronics, the dynamics of machinery, tribology, vibrations, rotor dynamics and vehicle dynamics. A valuable, up-to-date resource, it offers an essential overview of the subject for scientists and practitioners alike, and will inspire further investigations and research.

Advances in Guidance, Navigation and Control

Liang Yan,Haibin Duan,Yimin Deng
Advances in Guidance Navigation and Control Book PDF

Author : Liang Yan,Haibin Duan,Yimin Deng
Publisher : Springer Nature
Page : 7455 pages
File Size : 49,6 Mb
Release : 2023-02-10
Category : Technology & Engineering
ISBN : 9789811966132

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Advances in Guidance, Navigation and Control by Liang Yan,Haibin Duan,Yimin Deng Pdf

This book features the latest theoretical results and techniques in the field of guidance, navigation, and control (GNC) of vehicles and aircrafts. It covers a wide range of topics, including but not limited to, intelligent computing communication and control; new methods of navigation, estimation and tracking; control of multiple moving objects; manned and autonomous unmanned systems; guidance, navigation and control of miniature aircraft; and sensor systems for guidance, navigation and control etc. Presenting recent advances in the form of illustrations, tables, and text, it also provides detailed information of a number of the studies, to offer readers insights for their own research. In addition, the book addresses fundamental concepts and studies in the development of GNC, making it a valuable resource for both beginners and researchers wanting to further their understanding of guidance, navigation, and control.

ROBOT 2017: Third Iberian Robotics Conference

Anibal Ollero,Alberto Sanfeliu,Luis Montano,Nuno Lau,Carlos Cardeira
ROBOT 2017 Third Iberian Robotics Conference Book PDF

Author : Anibal Ollero,Alberto Sanfeliu,Luis Montano,Nuno Lau,Carlos Cardeira
Publisher : Springer
Page : 863 pages
File Size : 52,7 Mb
Release : 2017-12-21
Category : Technology & Engineering
ISBN : 9783319708362

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ROBOT 2017: Third Iberian Robotics Conference by Anibal Ollero,Alberto Sanfeliu,Luis Montano,Nuno Lau,Carlos Cardeira Pdf

These volumes of "Advances in Intelligent Systems and Computing" highlight papers presented at the "Third Iberian Robotics Conference (ROBOT 2017)". Held from 22 to 24 November 2017 in Seville, Spain, the conference is a part of a series of conferences co-organized by SEIDROB (Spanish Society for Research and Development in Robotics) and SPR (Portuguese Society for Robotics). The conference is focused on Robotics scientific and technological activities in the Iberian Peninsula, although open to research and delegates from other countries. Thus, it has more than 500 authors from 21 countries. The volumes present scientific advances but also robotic industrial applications, looking to promote new collaborations between industry and academia.

ROMANSY 23 - Robot Design, Dynamics and Control

Gentiane Venture,Jorge Solis,Yukio Takeda,Atsushi Konno
ROMANSY 23 Robot Design Dynamics and Control Book PDF

Author : Gentiane Venture,Jorge Solis,Yukio Takeda,Atsushi Konno
Publisher : Springer Nature
Page : 591 pages
File Size : 52,7 Mb
Release : 2020-09-15
Category : Technology & Engineering
ISBN : 9783030583804

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ROMANSY 23 - Robot Design, Dynamics and Control by Gentiane Venture,Jorge Solis,Yukio Takeda,Atsushi Konno Pdf

This book highlights the latest innovations and applications in robotics, as presented by leading international researchers and engineers at the ROMANSY 2020, the 23rd CISM IFToMM Symposium on Theory and Practice of Robots and Manipulators. The ROMANSY symposium is the first established conference that focuses on robotics theory and research, rather than industrial aspects. Bringing together researchers from a broad range of countries, the symposium is held bi-annually and plays a vital role in the development of the theory and practice of robotics, as well as the mechanical sciences. ROMANSY 2020 marks the 23rd installment in a series that began in 1973. The event was also the first topic-specific conference of the IFToMM, though not exclusively intended for the IFToMM community.

Robot 2019: Fourth Iberian Robotics Conference

Manuel F. Silva,José Luís Lima,Luís Paulo Reis,Alberto Sanfeliu,Danilo Tardioli
Robot 2019 Fourth Iberian Robotics Conference Book PDF

Author : Manuel F. Silva,José Luís Lima,Luís Paulo Reis,Alberto Sanfeliu,Danilo Tardioli
Publisher : Springer Nature
Page : 701 pages
File Size : 51,8 Mb
Release : 2019-11-19
Category : Technology & Engineering
ISBN : 9783030359904

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Robot 2019: Fourth Iberian Robotics Conference by Manuel F. Silva,José Luís Lima,Luís Paulo Reis,Alberto Sanfeliu,Danilo Tardioli Pdf

This book gathers a selection of papers presented at ROBOT 2019 – the Fourth Iberian Robotics Conference, held in Porto, Portugal, on November 20th–22nd, 2019. ROBOT 2019 is part of a series of conferences jointly organized by the SPR – Sociedade Portuguesa de Robótica (Portuguese Society for Robotics) and SEIDROB – Sociedad Española para la Investigación y Desarrollo en Robótica (Spanish Society for Research and Development in Robotics). ROBOT 2019 built upon several previous successful events, including three biannual workshops and the three previous installments of the Iberian Robotics Conference, and chiefly focused on presenting the latest findings and applications in robotics from the Iberian Peninsula, although the event was also open to research and researchers from other countries. The event featured five plenary talks on state-of-the-art topics and 16 special sessions, plus a main/general robotics track. In total, after a stringent review process, 112 high-quality papers written by authors from 24 countries were selected for publication.