Modeling and control of a flying robot for contact inspection

This paper focuses on the modeling and control of a flying robot. The complete system, composed of a quadrotor unmanned aerial vehicle and a custom-made manipulator, has been designed for remote inspection by contact of industrial plants. The goal of this paper is to show the dynamical characteristics of the flying robot during tasks that require physical interaction, and to determine a control strategy that allows to safely interact with unknown environments. The methodology has been implemented on a real prototype and tested in an indoor area. Experimental results validate the proposed controller and show its effectiveness.

[1]  Kimon P. Valavanis,et al.  Advances in Unmanned Aerial Vehicles , 2007 .

[2]  Arjan van der Schaft,et al.  Dynamics and control of a class of underactuated mechanical systems , 1999, IEEE Trans. Autom. Control..

[3]  Paul Y. Oh,et al.  MM-UAV: Mobile Manipulating Unmanned Aerial Vehicle , 2012, J. Intell. Robotic Syst..

[4]  Stefano Stramigioli,et al.  Contact impedance estimation for robotic systems , 2004, IEEE Transactions on Robotics.

[5]  Mark R. Cutkosky,et al.  Landing and Perching on Vertical Surfaces with Microspines for Small Unmanned Air Vehicles , 2010, J. Intell. Robotic Syst..

[6]  Albert Albers,et al.  Semi-autonomous flying robot for physical interaction with environment , 2010, 2010 IEEE Conference on Robotics, Automation and Mechatronics.

[7]  Nicholas Roy,et al.  Autonomous Flight in Unknown Indoor Environments , 2009 .

[8]  Reza Olfati-Saber,et al.  Nonlinear control of underactuated mechanical systems with application to robotics and aerospace vehicles , 2001 .

[9]  Richard M. Murray,et al.  A Mathematical Introduction to Robotic Manipulation , 1994 .

[10]  N. Hogan,et al.  Impedance Control:An Approach to Manipulation,Parts I,II,III , 1985 .

[11]  Abdelhamid Tayebi,et al.  Attitude stabilization of a VTOL quadrotor aircraft , 2006, IEEE Transactions on Control Systems Technology.

[12]  Stefano Stramigioli,et al.  Mechanical design of a manipulation system for unmanned aerial vehicles , 2012, 2012 IEEE International Conference on Robotics and Automation.

[13]  T. Hamel,et al.  Hovering flight stabilization in wind gusts for ducted fan UAV , 2004, 2004 43rd IEEE Conference on Decision and Control (CDC) (IEEE Cat. No.04CH37601).

[14]  Vijay Kumar,et al.  Construction of Cubic Structures with Quadrotor Teams , 2011, Robotics: Science and Systems.

[15]  P. Olver.  Nonlinear Systems , 2013 .

[16]  Jonathan P. How,et al.  Hover, Transition, and Level Flight Control Design for a Single-Propeller Indoor Airplane , 2007 .

[17]  Neville Hogan,et al.  Impedance Control: An Approach to Manipulation , 1984, 1984 American Control Conference.

[18]  Robert Mahony,et al.  Modelling and control of a quad-rotor robot , 2006 .

[19]  Aaron M. Dollar,et al.  Grasping from the air: Hovering capture and load stability , 2011, 2011 IEEE International Conference on Robotics and Automation.

[20]  Romeo Ortega,et al.  Putting energy back in control , 2001 .

[21]  Neville Hogan,et al.  Impedance Control: An Approach to Manipulation: Part I—Theory , 1985 .

[22]  Vijay Kumar,et al.  Cooperative manipulation and transportation with aerial robots , 2009, Auton. Robots.

[23]  Mark W. Spong,et al.  Underactuated mechanical systems , 1998 .

[24]  Alberto Isidori,et al.  Nonlinear Control Systems II , 1999 .