dc.creator | Suarez Fernández Miranda, Alejandro | es |
dc.creator | Pérez, Manuel | es |
dc.creator | Heredia Benot, Guillermo | es |
dc.creator | Ollero Baturone, Aníbal | es |
dc.date.accessioned | 2021-02-04T11:25:05Z | |
dc.date.available | 2021-02-04T11:25:05Z | |
dc.date.issued | 2021-01-22 | |
dc.identifier.citation | Suarez Fernández Miranda, A., Pérez, Manuel, Heredia Benot, Guillermo y Ollero Baturone, Aníbal (2021). Cartesian Aerial Manipulator with Compliant Arm. Applied Sciences, 11 (3), 1-20. | |
dc.identifier.issn | 2076-3417 | es |
dc.identifier.uri | https://hdl.handle.net/11441/104599 | |
dc.description | Nº ArtÍculo: 1001 | es |
dc.description.abstract | This paper presents an aerial manipulation robot consisting of a hexa-rotor equipped with
a 2-DOF (degree of freedom) Cartesian base (XY–axes) that supports a 1-DOF compliant joint arm
that integrates a gripper and an elastic linear force sensor. The proposed kinematic configuration
improves the positioning accuracy of the end effector with respect to robotic arms with revolute
joints, where each coordinate of the Cartesian position depends on all the joint angles. The Cartesian
base reduces the inertia of the manipulator and the energy consumption since it does not need to lift
its own weight. Consequently, the required torque is lower and, thus, the weight of the actuators.
The linear and angular deflection sensors of the arm allow the estimation, monitoring and control of
the interaction wrenches exerted in two axes (XZ) at the end effector. The kinematic and dynamic
models are derived and compared with respect to a revolute-joint arm, proposing a force-position
control scheme for the aerial robot. A battery counterweight mechanism is also incorporated in the
X–axis linear guide to partially compensate for the motion of the manipulator. Experimental results
indoors and outdoors show the performance of the robot, including object grasping and retrieval,
contact force control, and force monitoring in grabbing situations. | es |
dc.description.sponsorship | Ministerio de Economía, Industria y Competitividad Proyecto ARTIC RTI2018-102224- B-I00 | es |
dc.description.sponsorship | Comisión Europea Proyecto AERIAL-CORE H2020-2019-871479 | es |
dc.description.sponsorship | Comisión Europea Proyecto HYFLIERS H2020- ICT-25-2017-779411 | es |
dc.format | application/pdf | es |
dc.format.extent | 20 p. | es |
dc.language.iso | eng | es |
dc.publisher | MDPI | es |
dc.relation.ispartof | Applied Sciences, 11 (3), 1-20. | |
dc.rights | Attribution-NonCommercial-NoDerivatives 4.0 Internacional | * |
dc.rights.uri | http://creativecommons.org/licenses/by-nc-nd/4.0/ | * |
dc.subject | Aerial manipulation | es |
dc.subject | Cartesian manipulator | es |
dc.subject | Compliance | es |
dc.subject | Hexa-rotor | es |
dc.title | Cartesian Aerial Manipulator with Compliant Arm | es |
dc.type | info:eu-repo/semantics/article | es |
dcterms.identifier | https://ror.org/03yxnpp24 | |
dc.type.version | info:eu-repo/semantics/publishedVersion | es |
dc.rights.accessRights | info:eu-repo/semantics/openAccess | es |
dc.contributor.affiliation | Universidad de Sevilla. Departamento de Ingeniería de Sistemas y Automática | es |
dc.relation.projectID | RTI2018-102224- B-I00 | es |
dc.relation.projectID | H2020-2019-871479 | es |
dc.relation.publisherversion | https://www.mdpi.com/search?q=Cartesian+Aerial+Manipulator+with+Compliant+Arm&journal=applsci | es |
dc.identifier.doi | 10.3390/app11031001 | es |
dc.contributor.group | Universidad de Sevilla. TEP-151: Robótica, Visión y Control | es |
dc.journaltitle | Applied Sciences | es |
dc.publication.volumen | 11 | es |
dc.publication.issue | 3 | es |
dc.publication.initialPage | 1 | es |
dc.publication.endPage | 20 | es |