Grunnleggende konsepter
Comparative study of real-time implementable cooperative aerial manipulation systems.
Sammendrag
This survey paper delves into quadrotor- and multirotor-based cooperative aerial manipulation, comparing prototype systems implemented in real-time. It discusses modeling, control approaches, challenges, and applications. The survey aims to guide the development of next-generation prototype systems.
Abstract:
- Focus on quadrotor- and multirotor-based cooperative aerial manipulation.
- Comparison of prototype systems implemented in real-time.
- Discussion on modeling and control approaches.
- Addressing challenges and applications.
Introduction:
- Unmanned Aerial Vehicles (UAVs) gaining interest in civil domains.
- Applications include surveillance, search and rescue, agriculture, etc.
- Emphasis on aerial manipulation for industrial tasks.
Research Categories:
- Cable-Suspended Manipulation: Challenges with oscillations and multiple solutions.
- Multirotors with Robotic Arms: Solutions for dangerous tasks.
- Ground-Air Collaboration: Benefits of combining UAVs with UGVs.
- Rigidly Attached Multirotors: Mechanical simplicity for heavy objects.
- Flexible Payload Manipulation: Control strategies for flexible objects.
Modeling Approaches:
- Newton-Euler formulation used for cable-driven systems.
- Euler-Lagrange formulation applied to multi-DoF arms and ground-air collaboration.
- Combined methods like Kane method or Udwadia-Kalaba equations utilized in various scenarios.
Control Strategies:
- Geometric control employed for transportation/manipulation tasks without external disturbances or perception techniques.
- LQR controllers handle deformation and vibrations of flexible payloads during transportation/manipulation tasks.
- Adaptive controllers compensate for unknown parameters and adverse conditions in various scenarios.
Sitater
"Many challenges have already been considered in the literature."
"Mission complexity is higher due to required task distribution."