A novel robotic platform for aerial manipulation using quadrotors as rotating thrust generators

Title: A novel robotic platform for aerial manipulation using quadrotors as rotating thrust generators
Authors: Nguyen, H-N
Park, S
Park, J
Lee, DJ
Item Type: Journal Article
Abstract: We propose a novel robotic platform for aerial op- eration and manipulation, a spherically connected multiquadro- tor (SmQ) platform, which consists of a rigid frame and multiple quadrotors that are connected to the frame via passive spherical joints and act as distributed rotating thrust generators to collec- tively propel the frame by adjusting their attitude and thrust force. Depending on the number of quadrotors and their configuration, this SmQ platform can fully (or partially) overcome the issues of underactuation of the standard multirotor drones for aerial oper- ation/manipulation (e.g., body-tilting with sideway gust/force, dy- namic interaction hard to attain, complicated arm–drone integra- tion, etc.). We present the dynamics modeling of this SmQ platform system and establish the condition for its full actuation in SE(3). We also show how to address limited range of spherical joints and rotor saturations as a constrained optimization problem by notic- ing the similarity with the multifingered grasping problem under the friction-cone constraint. We then design and analyze feedback control laws for the S3Q and S2Q systems as a combination of high-level Lyapunov control design and low-level constrained opti- mization and show that the (fully actuated) S3Q system can assume any trajectory in SE(3), whereas the S2Q system in 3 × S 2 with its unactuated dynamics is still internally stable. Experiments are also performed to show the efficacy of the theory.
Issue Date: 1-Apr-2018
Date of Acceptance: 9-Dec-2017
URI: http://hdl.handle.net/10044/1/59014
DOI: https://dx.doi.org/10.1109/TRO.2018.2791604
ISSN: 1552-3098
Publisher: Institute of Electrical and Electronics Engineers
Start Page: 353
End Page: 369
Journal / Book Title: IEEE Transactions on Robotics
Volume: 34
Issue: 2
Copyright Statement: © 2018 IEEE. Translations and content mining are permitted for academic research only. Personal use is also permitted, but republication/ redistribution requires IEEE permission. See http://www.ieee.org/publications standards/publications/rights/index.html for more information.
Keywords: 0801 Artificial Intelligence And Image Processing
0906 Electrical And Electronic Engineering
0913 Mechanical Engineering
Industrial Engineering & Automation
Publication Status: Published
Open Access location: https://ieeexplore.ieee.org/document/8294249/
Online Publication Date: 2018-02-28
Appears in Collections:Faculty of Engineering

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