This paper presents the motion planning of a novel aerial robotic system with a long bar extension and two arms for long-reach manipulation in cluttered environments. The novel aerial long-reach manipulator includes a passive revolute joint between the aerial platform and the dual arm. This feature minimises the torque induced to the aerial system in case of unexpected collisions of the manipulator. The motion planning problem is addressed considering jointly the complete set of configuration variables for the aerial platform and the dual arm. Furthermore, the planner has been built over the fundamentals of RRT* algorithms in order to optimise the performance of the trajectories in terms of energy and time. The proposed planning method has been experimentally validated in a realistic industrial scenario, the transportation of a long bar through a cluttered environment consisting of several pipe structures.


    Zugriff

    Download


    Exportieren, teilen und zitieren



    Titel :

    Motion planning for long reach manipulation in aerial robotic systems with two arms


    Beteiligte:

    Erscheinungsdatum :

    01.10.2018



    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch


    Klassifikation :

    DDC:    629




    Motion planning with dynamics awareness for long reach manipulation in aerial robotic systems with two arms

    Alvaro Caballero / Manuel Bejar / Angel Rodriguez Castaño et al. | BASE | 2018

    Freier Zugriff

    Compliant Bimanual Aerial Manipulation: Standard and Long Reach Configurations

    Alejandro Suarez / Fran Real / Victor M. Vega et al. | BASE | 2020

    Freier Zugriff


    Motion planning for 6D manipulation with aerial towed-cable systems

    Manubens Ferriol, Montserrat / Devaurs, Didier / Ros Giralt, Lluís et al. | BASE | 2013

    Freier Zugriff

    Motion planning for 6D manipulation with aerial towed-cable systems

    Manubens, Montserrat / Devaurs, Didier / Ros, Lluís et al. | BASE | 2013

    Freier Zugriff