Artículo
Motion planning with dynamics awareness for long reach manipulation in aerial robotic systems with two arms
Autor/es | Caballero, Álvaro
Béjar Domínguez, Manuel Rodríguez Castaño, Ángel Ollero Baturone, Aníbal |
Departamento | Universidad de Sevilla. Departamento de Ingeniería de Sistemas y Automática |
Fecha de publicación | 2018 |
Fecha de depósito | 2019-08-07 |
Publicado en |
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Resumen | Human activities in maintenance of industrial plants pose elevated risks as well as significant costs due to the required shutdowns of the facility. An aerial robotic system with two arms for long reach manipulation in ... Human activities in maintenance of industrial plants pose elevated risks as well as significant costs due to the required shutdowns of the facility. An aerial robotic system with two arms for long reach manipulation in cluttered environments is presented to alleviate these constraints. The system consists of a multirotor with a long bar extension that incorporates a lightweight dual arm in the tip. This configuration allows aerial manipulation tasks even in hard-to-reach places. The objective of this work is the development of planning strategies to move the aerial robotic system with two arms for long reach manipulation in a safe and efficient way for both navigation and manipulation tasks. The motion planning problem is addressed considering jointly the aerial platform and the dual arm in order to achieve wider operating conditions. Since there exists a strong dynamical coupling between the multirotor and the dual arm, safety in obstacle avoidance will be assured by introducing dynamics awareness in the operation of the planner. On the other hand, the limited maneuverability of the system emphasizes the importance of energy and time efficiency in the generated trajectories. Accordingly, an adapted version of the optimal Rapidly-exploring Random Tree algorithm has been employed to guarantee their optimality. The resulting motion planning strategy has been evaluated through simulation in two realistic industrial scenarios, a riveting application and a chimney repairing task. To this end, the dynamics of the aerial robotic system with two arms for long reach manipulation has been properly modeled, and a distributed control scheme has been derived to complete the test bed. The satisfactory results of the simulations are presented as a first validation of the proposed approach. |
Identificador del proyecto | H2020-644271
DPI2014-59383-C2-1-R |
Cita | Caballero, A., Béjar Domínguez, M., Rodríguez Castaño, A. y Ollero Baturone, A. (2018). Motion planning with dynamics awareness for long reach manipulation in aerial robotic systems with two arms. International Journal of Advanced Robotic Systems, 15 (3), 1-16. |
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