publication . Article . 2019

Low-cost 3D-Printable Docking System for Controlling Aerial Robotic Manipulators in Outdoor Industrial Applications

Pablo Ramón Soria; Begoña C. Arrue; Anibal Ollero;
Open Access
  • Published: 07 Jan 2019
Abstract
This article proposes a novel docking system design for unmanned aerial vehicles (UAVs) that provides measurements of the robot's position at high frequency. These measurements are used to control the aerial robot, enabling it to hover while it performs any kind of manipulation task in GPS-denied industrial environments without causing the UAV to drift or putting at risk the platform and its environment. The novel tool is designed as an arm end effector, preventing the aerial manipulator from colliding while in operation. A cascade controller is proposed to close the position loop. An additional use case for the docking system is described in the "Experimental V...
Subjects
ACM Computing Classification System: ComputerApplications_COMPUTERSINOTHERSYSTEMS
Funded by
EC| HYFLIERS
Project
HYFLIERS
HYbrid FLying-rollIng with-snakE-aRm robot for contact inSpection
  • Funder: European Commission (EC)
  • Project Code: 779411
  • Funding stream: H2020 | RIA
,
EC| AEROARMS
Project
AEROARMS
AErial RObotic system integrating multiple ARMS and advanced manipulation capabilities for inspection and maintenance
  • Funder: European Commission (EC)
  • Project Code: 644271
  • Funding stream: H2020 | RIA
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Article . 2019
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