Modeling and Control of Aerial Continuum Manipulation Systems: A Flying Continuum Robot Paradigm
In this paper, a novel aerial manipulation paradigm, namely an aerial continuum manipulation system (ACMS) is introduced. The proposed system is distinct from the conventional aerial manipulation systems (AMSs) in the sense that instead of conventional rigid-link arms a continuum robotic arm is used...
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doaj-889e5aea59224ceb9cb5a32fe2c912dc2021-03-30T04:02:14ZengIEEEIEEE Access2169-35362020-01-01817688317689410.1109/ACCESS.2020.30262799204634Modeling and Control of Aerial Continuum Manipulation Systems: A Flying Continuum Robot ParadigmZahra Samadikhoshkho0https://orcid.org/0000-0003-3223-5106Shahab Ghorbani1https://orcid.org/0000-0002-6254-8341Farrokh Janabi-Sharifi2https://orcid.org/0000-0002-0314-0688Department of Mechanical and Industrial Engineering, Robotics, Mechatronics, and Automation Laboratory, Ryerson University, Toronto, CanadaDepartment of Mechanical and Industrial Engineering, Robotics, Mechatronics, and Automation Laboratory, Ryerson University, Toronto, CanadaDepartment of Mechanical and Industrial Engineering, Robotics, Mechatronics, and Automation Laboratory, Ryerson University, Toronto, CanadaIn this paper, a novel aerial manipulation paradigm, namely an aerial continuum manipulation system (ACMS) is introduced. The proposed system is distinct from the conventional aerial manipulation systems (AMSs) in the sense that instead of conventional rigid-link arms a continuum robotic arm is used. Such an integration will enable the benefits of continuum arms especially in cluttered and less structured environments. Despite promising advantages, modeling and control of ACMS involve several challenges. The paper presents decoupled dynamic modeling of ACMS arm using the modified Cosserat rod theory. To deal with the problem of complexity and high level of modeling uncertainties, a robust adaptive control approach is proposed for the position control of ACMS and its stability is proven using Lyapunov stability theorem. Finally, the effectiveness of the proposed scheme is validated in a simulated environment.https://ieeexplore.ieee.org/document/9204634/Aerial manipulationcontinuum robottendon-drivenCosserat rod theoryadaptive sliding mode control |
collection |
DOAJ |
language |
English |
format |
Article |
sources |
DOAJ |
author |
Zahra Samadikhoshkho Shahab Ghorbani Farrokh Janabi-Sharifi |
spellingShingle |
Zahra Samadikhoshkho Shahab Ghorbani Farrokh Janabi-Sharifi Modeling and Control of Aerial Continuum Manipulation Systems: A Flying Continuum Robot Paradigm IEEE Access Aerial manipulation continuum robot tendon-driven Cosserat rod theory adaptive sliding mode control |
author_facet |
Zahra Samadikhoshkho Shahab Ghorbani Farrokh Janabi-Sharifi |
author_sort |
Zahra Samadikhoshkho |
title |
Modeling and Control of Aerial Continuum Manipulation Systems: A Flying Continuum Robot Paradigm |
title_short |
Modeling and Control of Aerial Continuum Manipulation Systems: A Flying Continuum Robot Paradigm |
title_full |
Modeling and Control of Aerial Continuum Manipulation Systems: A Flying Continuum Robot Paradigm |
title_fullStr |
Modeling and Control of Aerial Continuum Manipulation Systems: A Flying Continuum Robot Paradigm |
title_full_unstemmed |
Modeling and Control of Aerial Continuum Manipulation Systems: A Flying Continuum Robot Paradigm |
title_sort |
modeling and control of aerial continuum manipulation systems: a flying continuum robot paradigm |
publisher |
IEEE |
series |
IEEE Access |
issn |
2169-3536 |
publishDate |
2020-01-01 |
description |
In this paper, a novel aerial manipulation paradigm, namely an aerial continuum manipulation system (ACMS) is introduced. The proposed system is distinct from the conventional aerial manipulation systems (AMSs) in the sense that instead of conventional rigid-link arms a continuum robotic arm is used. Such an integration will enable the benefits of continuum arms especially in cluttered and less structured environments. Despite promising advantages, modeling and control of ACMS involve several challenges. The paper presents decoupled dynamic modeling of ACMS arm using the modified Cosserat rod theory. To deal with the problem of complexity and high level of modeling uncertainties, a robust adaptive control approach is proposed for the position control of ACMS and its stability is proven using Lyapunov stability theorem. Finally, the effectiveness of the proposed scheme is validated in a simulated environment. |
topic |
Aerial manipulation continuum robot tendon-driven Cosserat rod theory adaptive sliding mode control |
url |
https://ieeexplore.ieee.org/document/9204634/ |
work_keys_str_mv |
AT zahrasamadikhoshkho modelingandcontrolofaerialcontinuummanipulationsystemsaflyingcontinuumrobotparadigm AT shahabghorbani modelingandcontrolofaerialcontinuummanipulationsystemsaflyingcontinuumrobotparadigm AT farrokhjanabisharifi modelingandcontrolofaerialcontinuummanipulationsystemsaflyingcontinuumrobotparadigm |
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