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dc.creatorNekoo, Saeed Rafeees
dc.creatorSuárez Fernández-Miranda, Alejandroes
dc.creatorAcosta Rodríguez, José Ángeles
dc.creatorHeredia Benot, Guillermoes
dc.creatorOllero Baturone, Aníbales
dc.date.accessioned2023-10-13T17:35:04Z
dc.date.available2023-10-13T17:35:04Z
dc.date.issued2023
dc.identifier.citationNekoo, S.R., Suárez Fernández-Miranda, A., Acosta Rodríguez, J.Á., Heredia Benot, G. y Ollero Baturone, A. (2023). Constrained design optimization of a long-reach dual-arm aerial manipulator for maintenance tasks. En International Conference on Unmanned Aircraft Systems, ICUAS 2023 (281-288), Varsovia: IEEE.
dc.identifier.isbn979-835031037-5es
dc.identifier.urihttps://hdl.handle.net/11441/149674
dc.description.abstractMotivated by the convenience of improving the performance of long-reach aerial manipulators in the realization of maintenance tasks on high-voltage power lines, this paper proposes a constrained design optimization method for dual-arm aerial manipulators intended to reduce the weight while increasing the workspace of the robot. This configuration, in which the arms are separated from the aerial platform through a long reach link similar to a pendulum, improves safety in the interaction with human workers, reduces the electromagnetic interference of high voltage power lines on the electronics, as well as the aerodynamic downwash effect due to the propellers. However, the long-reach link introduces undesired vibrations on the manipulator due to its flexibility, so its length imposes a trade-off between the safety of operation as a positive side-effect and vibration as a negative one. Therefore, the cost function in the optimization problem also accounts for this factor, limiting the vibration to a fixed predefined value. A recent optimization approach is used here to minimize the cost function and solve the problem, verified by particle swarm optimization as a basis to confirm the correctness of the obtained data.es
dc.formatapplication/pdfes
dc.format.extent8 p.es
dc.language.isoenges
dc.publisherIEEEes
dc.relation.ispartofInternational Conference on Unmanned Aircraft Systems, ICUAS 2023 (2023), pp. 281-288.
dc.subjectLong-reach aerial manipulatores
dc.subjectConstrained optimizationes
dc.subjectSearch algorithmes
dc.subjectParticle swarm optimizationes
dc.titleConstrained design optimization of a long-reach dual-arm aerial manipulator for maintenance taskses
dc.typeinfo:eu-repo/semantics/conferenceObjectes
dcterms.identifierhttps://ror.org/03yxnpp24
dc.type.versioninfo:eu-repo/semantics/submittedVersiones
dc.rights.accessRightsinfo:eu-repo/semantics/openAccesses
dc.contributor.affiliationUniversidad de Sevilla. Departamento de Ingeniería de Sistemas y Automáticaes
dc.relation.projectIDH2020-2019-871479es
dc.relation.projectIDPID2020-119027RB-I00es
dc.relation.publisherversionhttps://ieeexplore.ieee.org/document/10156252es
dc.identifier.doi10.1109/ICUAS57906.2023.10156252es
dc.contributor.groupUniversidad de Sevilla. TEP151: Robótica, Visión y Controles
dc.publication.initialPage281es
dc.publication.endPage288es
dc.eventtitleInternational Conference on Unmanned Aircraft Systems, ICUAS 2023es
dc.eventinstitutionVarsoviaes
dc.contributor.funderUnión Europeaes
dc.contributor.funderMinisterio de Ciencia e Innovación (MICIN). Españaes

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