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Author : Ramy Rashad
Publisher :
ISBN 13 : 9789036551137
Total Pages : 0 pages
Book Rating : 4.5/5 (511 download)
Download or read book Energy-based Modeling and Control of Interactive Aerial Robots written by Ramy Rashad and published by . This book was released on 2021 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Author : Burak Yüksel
Publisher : Logos Verlag Berlin GmbH
ISBN 13 : 3832544925
Total Pages : 222 pages
Book Rating : 4.8/5 (325 download)
Download or read book Design, Modeling and Control of Aerial Robots for Physical Interaction and Manipulation written by Burak Yüksel and published by Logos Verlag Berlin GmbH. This book was released on 2017-06-10 with total page 222 pages. Available in PDF, EPUB and Kindle. Book excerpt: Aerial robots, meaning robots with flying capabilities, are essentially robotic platforms, which are autonomously controlled via some sophisticated control engineering tools. Similar to aerial vehichles, they can overcome the gravitational forces thanks to their design and/or actuation type. What makes them different from the conventional aerial vehicles, is the level of their autonomy. Reducing the complexity for piloting of such robots/vehicles provide the human operator more freedom and comfort. With their increasing autonomy, they can perform many complicated tasks by their own (such as surveillance, monitoring, or inspection), leaving the human operator the most high-level decisions to be made, if necessary. In this way they can be operated in hazardous and challenging environments, which might posses high risks to the human health. Thanks to their wide range of usage, the ongoing researches on aerial robots is expected to have an increasing impact on the human life. Aerial Physical Interaction (APhI) is a case, in which the aerial robot exerts meaningful forces and torques (wrench) to its environment while preserving its stable flight. In this case, the robot does not try avoiding every obstacle in its environment, but prepare itself for embracing the effect of a physical interaction, furthermore turn this interaction into some meaningful robotic tasks. Aerial manipulation can be considered as a subset of APhI, where the flying robot is designed and controlled in purpose of manipulating its environment. A clear motivation of using aerial robots for physical interaction, is to benefit their great workspace and agility. Moreover, developing robots that can perform not only APhI but also aerial manipulation can bring the great workspace of the flying robots together with the vast dexterity of the manipulating arms. This thesis work is addressing the design, modeling and control problem of these aerial robots for the purpose of physical interaction and manipulation. Using the nonlinear mathematical models of the robots at hand, in this thesis several different control methods (IDA-PBC, Exact Linearization, Differential Flatness Based Control) for APhI and aerial manipulation tasks have been developed and proposed. Furthermore, novel design tools (e.g. new rigid/elastic manipulating arms, hardware, software) to be used together with miniature aerial robots are presented within this thesis, which contributes to the robotics society not only in terms of concrete theory but also practical implementation and experimental robotics.
Author : Teodor Tomić
Publisher : Springer Nature
ISBN 13 : 3031153936
Total Pages : 168 pages
Book Rating : 4.0/5 (311 download)
Download or read book Model-Based Control of Flying Robots for Robust Interaction Under Wind Influence written by Teodor Tomić and published by Springer Nature. This book was released on 2022-10-07 with total page 168 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book addresses the topic of autonomous flying robots physically interacting with the environment under the influence of wind. It aims to make aerial robots aware of the disturbance, interaction, and faults acting on them. This requires reasoning about the external wrench (force and torque) acting on the robot and distinguishing between wind, interactions, and collisions. The book takes a model-based approach and covers a systematic approach to parameter identification for flying robots. The book aims to provide a wind speed estimate independent of the external wrench, including estimating the wind speed using motor power measurements. Aerodynamics modeling is approached in a data-driven fashion, using ground-truth measurements from a 4D wind tunnel. Finally, the book bridges the gap between trajectory tracking and interaction control, to allow physical interaction under wind influence. Theoretical results are accompanied by extensive simulation and experimental results.
Author : Karen Bodie
Publisher : Springer Nature
ISBN 13 : 3031454979
Total Pages : 230 pages
Book Rating : 4.0/5 (314 download)
Download or read book Omnidirectional Tilt-Rotor Flying Robots for Aerial Physical Interaction written by Karen Bodie and published by Springer Nature. This book was released on 2024-01-21 with total page 230 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book deals with the study of tilt-rotor omnidirectional aerial robots and their application to aerial physical interaction tasks. Omnidirectional aerial robots possess decoupled translational and rotational dynamics, which are important for stable and sustained aerial interaction. The additional ability to dynamically re-orient thrust vectors opens the door to a wide array of possible morphologies and system capabilities. Through modeling, control, prototype design, and experimental evaluation, this book presents a comprehensive methodology and examples for the development of a novel tilt-rotor aerial manipulator. This work serves as a guide for envisioning and constructing innovative systems that will advance the frontier of aerial manipulation.
Author : Matko Orsag
Publisher : Springer
ISBN 13 : 3319610228
Total Pages : 246 pages
Book Rating : 4.3/5 (196 download)
Download or read book Aerial Manipulation written by Matko Orsag and published by Springer. This book was released on 2017-09-19 with total page 246 pages. Available in PDF, EPUB and Kindle. Book excerpt: This text is a thorough treatment of the rapidly growing area of aerial manipulation. It details all the design steps required for the modeling and control of unmanned aerial vehicles (UAV) equipped with robotic manipulators. Starting with the physical basics of rigid-body kinematics, the book gives an in-depth presentation of local and global coordinates, together with the representation of orientation and motion in fixed- and moving-coordinate systems. Coverage of the kinematics and dynamics of unmanned aerial vehicles is developed in a succession of popular UAV configurations for multirotor systems. Such an arrangement, supported by frequent examples and end-of-chapter exercises, leads the reader from simple to more complex UAV configurations. Propulsion-system aerodynamics, essential in UAV design, is analyzed through blade-element and momentum theories, analysis which is followed by a description of drag and ground-aerodynamic effects. The central part of the book is dedicated to aerial-manipulator kinematics, dynamics, and control. Based on foundations laid in the opening chapters, this portion of the book is a structured presentation of Newton–Euler dynamic modeling that results in forward and backward equations in both fixed- and moving-coordinate systems. The Lagrange–Euler approach is applied to expand the model further, providing formalisms to model the variable moment of inertia later used to analyze the dynamics of aerial manipulators in contact with the environment. Using knowledge from sensor data, insights are presented into the ways in which linear, robust, and adaptive control techniques can be applied in aerial manipulation so as to tackle the real-world problems faced by scholars and engineers in the design and implementation of aerial robotics systems. The book is completed by path and trajectory planning with vision-based examples for tracking and manipulation.
Author : George Nikolakopoulos
Publisher : Butterworth-Heinemann
ISBN 13 : 0128149108
Total Pages : 282 pages
Book Rating : 4.1/5 (281 download)
Download or read book Aerial Robotic Workers written by George Nikolakopoulos and published by Butterworth-Heinemann. This book was released on 2022-11-05 with total page 282 pages. Available in PDF, EPUB and Kindle. Book excerpt: Aerial Robotic Workers: Design, Modeling, Control, Vision and Their Applications provides an in-depth look at both theory and practical applications surrounding the Aerial Robotic Worker (ARW). Emerging ARWs are fully autonomous flying robots that can assist human operations through their agile performance of aerial inspections and interaction with the surrounding infrastructure. This book addresses all the fundamental components of ARWs, starting with the hardware and software components and then addressing aspects of modeling, control, perception of the environment, and the concept of aerial manipulators, cooperative ARWs, and direct applications. The book includes sample codes and ROS-based tutorials, enabling the direct application of the chapters and real-life examples with platforms already existing in the market. Addresses the fundamental problems of UAVs with the ability of utilizing aerial tools in the fields of modeling, control, navigation, cooperation, vision and interaction with the environment Includes open source codes and libraries, providing a complete set of information for readers to start their experimentation with UAVs, and more specifically, ARWs Provides multiple, real-life examples and codes in MATLAB and ROS
Author : Omar D Lopez Mejia
Publisher : BoD – Books on Demand
ISBN 13 : 9535134639
Total Pages : 196 pages
Book Rating : 4.5/5 (351 download)
Download or read book Aerial Robots written by Omar D Lopez Mejia and published by BoD – Books on Demand. This book was released on 2017-09-06 with total page 196 pages. Available in PDF, EPUB and Kindle. Book excerpt: Few years ago, the topic of aerial robots was exclusively related to the robotics community, so a great number of books about the dynamics and control of aerial robots and UAVs have been written. As the control technology for UAVs advances, the great interaction that exists between other systems and elements that are as important as control such as aerodynamics, energy efficiency, acoustics, structural integrity, and applications, among others has become evident. Aerial Robots - Aerodynamics, Control, and Applications is an attempt to bring some of these topics related to UAVs together in just one book and to look at a selection of the most relevant problems of UAVs in a broader engineering perspective.
Author : Christos Papachristos
Publisher : Foundations and Trends (R) in Robotics
ISBN 13 : 9781680835489
Total Pages : 84 pages
Book Rating : 4.8/5 (354 download)
Download or read book Modeling, Control, State Estimation and Path Planning Methods for Autonomous Multirotor Aerial Robots written by Christos Papachristos and published by Foundations and Trends (R) in Robotics. This book was released on 2018-12-27 with total page 84 pages. Available in PDF, EPUB and Kindle. Book excerpt: Autonomous aerial systems have recently been at the forefront of robotics research, and currently enjoy a continuously expanding range of applications wherein they are actively utilized. Commonly these are called drones, but this survey of the current state-of-the-art also considers "Micro Aerial Vehicles" in order to emphasize the increasingly advanced levels of autonomy and the small scale of such systems. This monograph provides researchers, engineers and students with a comprehensive overview of core modeling, control, estimation, and planning concepts and approaches for micro aerial robots of the rotorcraft class. A comprehensive description of a set of methods that enable automated flight control, state estimation in GPS-denied environments, as well as path planning techniques for autonomous exploration is also provided, and serves as a holistic point of reference for those interested in the field of unmanned aerial systems. This monograph will be a valuable starting point for researchers and developers working in the exciting area of aerial robots of the rotorcraft class, or drones.
Author : Eng Teck Tan
Publisher :
ISBN 13 :
Total Pages : 206 pages
Book Rating : 4.:/5 (96 download)
Download or read book Modeling and Control of a Class of Aerial Robotic Systems written by Eng Teck Tan and published by . This book was released on 2012 with total page 206 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Author : Marco Tognon
Publisher : Springer Nature
ISBN 13 : 3030486591
Total Pages : 172 pages
Book Rating : 4.0/5 (34 download)
Download or read book Theory and Applications for Control of Aerial Robots in Physical Interaction Through Tethers written by Marco Tognon and published by Springer Nature. This book was released on 2020-06-26 with total page 172 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book studies how autonomous aerial robots physically interact with the surrounding environment. Intended to promote the advancement of aerial physical interaction, it analyzes a particular class of aerial robots: tethered aerial vehicles. By examining specific systems, while still considering the challenges of the general problem, it will help readers acquire the knowledge and expertise needed for the subsequent development of more general methods applicable to aerial physical interaction. The formal analysis covers topics ranging from control, state estimation, and motion planning, to experimental validation. Addressing both theoretical and technical aspects, the book is intended for a broad academic and industrial readership, including undergraduate students, researchers and engineers. It can be used as a teaching reference, or as the basis for product development.
Author : Nicolas Staub
Publisher :
ISBN 13 :
Total Pages : 179 pages
Book Rating : 4.:/5 (112 download)
Download or read book Models, Algorithms and Architectures for Cooperative Manipulation with Aerial and Ground Robots written by Nicolas Staub and published by . This book was released on 2018 with total page 179 pages. Available in PDF, EPUB and Kindle. Book excerpt: In recent years, the subject of physical interaction for aerial robots has been a popular research area with many new mechanical designs and control approaches being proposed. The aerial robotics community is currently observing a paradigm shift from classic guidance, navigation, and control tasks towards more unusual tasks, for example requesting aerial robots to physically interact with the environment, thus extending the manipulation task from the ground into the air. This thesis contributes to the field of aerial manipulation by proposing a novel concept known has Multiple Aerial-Ground Manipulator System or MAGMaS, including what appears to be the first experimental demonstration of a MAGMaS and opening a new route of research. The motivation behind associating ground and aerial robots for cooperative manipulation is to leverage their respective particularities, ground robots bring strength while aerial robots widen the workspace of the system. The first contribution of this work introduces a meticulous system model for MAGMaS. The system model's properties and potential extensions are discussed in this work. The planning, estimation and control methods which are necessary to exploit MAGMaS in a cooperative manipulation tasks are derived. This works proposes an optimal control allocation scheme to exploit the MAGMaS redundancies and a general model-based force estimation method is presented. All of the proposed techniques reported in this thesis are integrated in a global architecture used for simulations and experimental validation. This architecture is extended by the addition of a tele-presence framework to allow remote operations of MAGMaS. The global architecture is validated by robust demonstrations of bar lifting, an application that gives an outlook of the prospective use of the proposed concept of MAGMaS. Another contribution in the development of MAGMaS consists of an exploratory study on the flexibility of manipulated loads. A vibration model is derived and exploited to showcase vibration properties in terms of control. The last contribution of this thesis consists of an exploratory study on the use of elastic joints in aerial robots, endowing these systems with mechanical compliance and energy storage capabilities. Theoretical groundings are associated with a nonlinear controller synthesis. The proposed approach is validated by experimental work which relies on the integration of a lightweight variable stiffness actuator on an aerial robot.
Author : Yue Wang
Publisher : Springer
ISBN 13 : 3319405330
Total Pages : 424 pages
Book Rating : 4.3/5 (194 download)
Download or read book Trends in Control and Decision-Making for Human–Robot Collaboration Systems written by Yue Wang and published by Springer. This book was released on 2017-01-24 with total page 424 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book provides an overview of recent research developments in the automation and control of robotic systems that collaborate with humans. A measure of human collaboration being necessary for the optimal operation of any robotic system, the contributors exploit a broad selection of such systems to demonstrate the importance of the subject, particularly where the environment is prone to uncertainty or complexity. They show how such human strengths as high-level decision-making, flexibility, and dexterity can be combined with robotic precision, and ability to perform task repetitively or in a dangerous environment. The book focuses on quantitative methods and control design for guaranteed robot performance and balanced human experience from both physical human-robot interaction and social human-robot interaction. Its contributions develop and expand upon material presented at various international conferences. They are organized into three parts covering: one-human–one-robot collaboration; one-human–multiple-robot collaboration; and human–swarm collaboration. Individual topic areas include resource optimization (human and robotic), safety in collaboration, human trust in robot and decision-making when collaborating with robots, abstraction of swarm systems to make them suitable for human control, modeling and control of internal force interactions for collaborative manipulation, and the sharing of control between human and automated systems, etc. Control and decision-making algorithms feature prominently in the text, importantly within the context of human factors and the constraints they impose. Applications such as assistive technology, driverless vehicles, cooperative mobile robots, manufacturing robots and swarm robots are considered. Illustrative figures and tables are provided throughout the book. Researchers and students working in controls, and the interaction of humans and robots will learn new methods for human–robot collaboration from this book and will find the cutting edge of the subject described in depth.
Author : Mario Sarcinelli-Filho
Publisher : Springer Nature
ISBN 13 : 3031230884
Total Pages : 157 pages
Book Rating : 4.0/5 (312 download)
Download or read book Control of Ground and Aerial Robots written by Mario Sarcinelli-Filho and published by Springer Nature. This book was released on 2023-01-19 with total page 157 pages. Available in PDF, EPUB and Kindle. Book excerpt: The focus of this book is kinematic and dynamic control of a single mobile robot or a group of them. New simple and integrated solutions are presented for tasks of positioning, trajectory tracking and path following. Control of Ground and Aerial Robots synthesizes new results on control of mobile robots developed by M.Sc. and Ph.D. students supervised by the authors. The robots considered are wheeled mobile platforms, with emphasis on differential drive vehicles, and the multirotor aerial robots. Integrated control solutions based on the technique of feedback linearization are proposed to guide either a single robot or a homogeneous/heterogeneous group of mobile robots. Examples on the use of the proposed controllers are also provided. Finally, Control of Ground and Aerial Robots is intended to help graduate and advanced undergraduate students in engineering, as well as researchers in the area of robot control, to design controllers to autonomously guide the more common mobile platforms.
Author : Anis Koubaa
Publisher : Academic Press
ISBN 13 : 0128202777
Total Pages : 652 pages
Book Rating : 4.1/5 (282 download)
Download or read book Unmanned Aerial Systems written by Anis Koubaa and published by Academic Press. This book was released on 2021-01-21 with total page 652 pages. Available in PDF, EPUB and Kindle. Book excerpt: Unmanned Aerial Systems: Theoretical Foundation and Applications presents some of the latest innovative approaches to drones from the point-of-view of dynamic modeling, system analysis, optimization, control, communications, 3D-mapping, search and rescue, surveillance, farmland and construction monitoring, and more. With the emergence of low-cost UAS, a vast array of research works in academia and products in the industrial sectors have evolved. The book covers the safe operation of UAS, including, but not limited to, fundamental design, mission and path planning, control theory, computer vision, artificial intelligence, applications requirements, and more. This book provides a unique reference of the state-of-the-art research and development of unmanned aerial systems, making it an essential resource for researchers, instructors and practitioners. Covers some of the most innovative approaches to drones Provides the latest state-of-the-art research and development surrounding unmanned aerial systems Presents a comprehensive reference on unmanned aerial systems, with a focus on cutting-edge technologies and recent research trends in the area
Author : Anibal Ollero
Publisher : Springer
ISBN 13 : 3030129454
Total Pages : 385 pages
Book Rating : 4.0/5 (31 download)
Download or read book Aerial Robotic Manipulation written by Anibal Ollero and published by Springer. This book was released on 2019-06-27 with total page 385 pages. Available in PDF, EPUB and Kindle. Book excerpt: Aerial robotic manipulation integrates concepts and technologies coming from unmanned aerial systems and robotics manipulation. It includes not only kinematic, dynamics, aerodynamics and control but also perception, planning, design aspects, mechatronics and cooperation between several aerial robotics manipulators. All these topics are considered in this book in which the main research and development approaches in aerial robotic manipulation are presented, including the description of relevant systems. In addition of the research aspects, the book also includes the deployment of real systems both indoors and outdoors, which is a relevant characteristic of the book because most results of aerial robotic manipulation have been validated only indoor using motion tracking systems. Moreover, the book presents two relevant applications: structure assembly and inspection and maintenance, which has started to be applied in the industry. The Chapters of the book will present results of two main European Robotics Projects in aerial robotics manipulation: FP7 ARCAS and H2020 AEROARMS. FP7 ARCAS defined the basic concepts on aerial robotic manipulation, including cooperative manipulation. The H2020 AEROARMS on aerial robot with multiple arms and advanced manipulation capabilities for inspection and maintenance has two general objectives: (1) development of advanced aerial robotic manipulation methods and technologies, including manipulation with dual arms and multi-directional thrusters aerial platforms; and (2) application to the inspection and maintenance.
Author : Kaspar Althoefer
Publisher : Springer
ISBN 13 : 3030238075
Total Pages : 474 pages
Book Rating : 4.0/5 (32 download)
Download or read book Towards Autonomous Robotic Systems written by Kaspar Althoefer and published by Springer. This book was released on 2019-06-28 with total page 474 pages. Available in PDF, EPUB and Kindle. Book excerpt: The two volumes LNAI 11649 and LNAI 11650 constitute the refereed proceedings of the 20th Annual Conference "Towards Autonomous Robotics", TAROS 2019, held in London, UK, in July 2019. The 74 full papers and 12 short papers presented were carefully reviewed and selected from 101 submissions. The papers present and discuss significant findings and advances in autonomous robotics research and applications. They are organized in the following topical sections: robotic grippers and manipulation; soft robotics, sensing and mobile robots; robotic learning, mapping and planning; human-robot interaction; and robotic systems and applications.
Author :
Publisher :
ISBN 13 : 9789535134640
Total Pages : pages
Book Rating : 4.1/5 (346 download)
Download or read book Aerial Robots - Aerodynamics, Control and Applications written by and published by . This book was released on 19?? with total page pages. Available in PDF, EPUB and Kindle. Book excerpt:
