Aerial Manipulation (eBook)

Matko Orsag received his Ph.D.E.E. (2008) and B.Sc.E.E. (2003)  from the Faculty of Electrical Engineering and Computing, University of Zagreb. Currently he is working as an Assistant Professor at the Laboratory for Robotics and Intelligent Control Systems (LARICS), Faculty of Electrical Engineering and Computing, University of Zagreb. He graduated summa cum laude for which he received the Josip Loncar bronze plaque. During his undergraduate studies he participated in scientific research, published several papers and received the Rector Award in 2007. In 2011/2012 he worked as a visiting researcher at Drexel University, Philadelphia, PA, USA as a recipient of the Fulbright exchange grant. As a researcher, he participated in several national and international research projects in the field of robotics, control and automation. He authored and coauthored over 20 scientific and professional papers, including journal and conference papers, as well as book chapters in the field of unmanned aerial systems and robotics. He is a member of IEEE and is currently serving as a vice-chair of IEEE Coroatian RAS section. Christopher Korpela received his PhD.EE (2014) from Drexel University, MS.EE (2006) from the University of Colorado at Boulder, and BS.EE (1996) from the United States Military Academy at West Point. Lieutenant Colonel Korpela is an active duty Army officer and Academy Professor currently serving as the Deputy Director of the Electrical Engineering Program at West Point. Between 2015 and 2016, he collaborated with the Philosophy Program and brought together engineers and ethicists to study Just War Theory and autonomous weapons. The collaboration resulted in receiving the Apgar Award, West Point’s highest teaching award. In 2017, he became the founding director of the Robotics Research Center at West Point. Lieutenant Colonel Korpela has deployed twice to Iraq and served in command and staff positions from company to division level. As a researcher, he has coordinated research projects across the U.S. Department of Defense, academia, and industry in the field of robotics, control, and automation. He authored and coauthored over 20 scientific and professional papers, including journal and conference papers, as well as book chapters in the field of unmanned aerial systems and robotics. He is an IEEE Senior Member.Prof. Paul Oh joined the University of Nevada, Las Vegas (UNLV) as the Lincy Professor of Unmanned Aerial Systems in 2014.  Prior, he was in Drexel University's Mechanical Engineering Department from 2000-2014 where he founded and directed the Drexel Autonomous Systems Lab.  He received mechanical engineering degrees from McGill (B. Eng 1989), Seoul National (M. Sc. 1992), and Columbia (PhD 1999) universities.  He is a Fellow of NASA (2002), Naval Research Lab (2003), Boeing (2006) and ASME (2012).  He received research (2004 NSF CAREER) and teaching (2005 SAE Ralph Teetor Award for Engineering Education Excellence) awards and authored over 100 publications.  From 2008-2010, he served as an NSF Program Director managing the robotics research portfolio.  From 2012-2015 he led Team DRC-Hubo for the DARPA Robotics ChallengeStjepan Bogdan received his PhDEE in 1999, MSEE in 1993 and BSEE in 1990 from the University of Zagreb, Croatia. Currently he is a Full Professor at the Laboratory for Robotics and Intelligent Control Systems (LARICS), Faculty of Electrical Engineering and Computing, University of Zagreb. In 1996/97 he worked as Fulbright scholar at Automation and Robotics Research Institute, University of Texas at Arlington. His research interests include autonomous systems, aerial robotics, multi-agent systems, intelligent control and discrete event systems. He is a co-author of 3 books and has published more than 160 conference and journal papers. He is recipient of several national scientific awards. He was the Principal Investigator of numerous scientific projects. He served as an AE of IEEE T-ASE. Currently he is an AE of J. of Intel. and Rob. Systems; Int. Review of Mech. Eng.; Trans. of the Inst. of Meas.&Cont.; J. of Cont. Theory and Appl. He served as a Program Committee and Organizing Committee member of major control and robotics conferences and was General Chair of IEEE MSC2012. He is a member of KoREMA and IEEE senior member. He is appointed as a member of IEEE TC on Intelligent Control, representative of Croatia at European Union Control Association (EUCA) and was a vice-chair of Croatian Robotics Society.

Series Editors’ Foreword 7
Preface 9
Acknowledgements 11
Contents 12
1 Introduction 15
1.1 The State of the Art and Future of Aerial Robotics 15
1.1.1 Physical Interactions 16
1.1.2 Aerial Manipulation 19
1.1.3 The Design of Aerial Manipulation Systems 22
1.1.4 Applications 25
1.1.5 Conclusions and Future of Aerial Robotics 26
1.2 Structure of the Book 27
References 30
2 Coordinate Systems and Transformations 33
2.1 Coordinate Systems 33
2.1.1 Global Coordinate System 33
2.1.2 Local Coordinate System 35
2.1.3 Coordinate System Representation 36
2.2 Coordinate Transformations 37
2.2.1 Orientation Representation 38
2.2.2 Euler Angles 39
2.2.3 Change of Frame 40
2.2.4 Translation and Rotation 40
2.3 Motion Kinematics 42
2.3.1 Linear and Angular Velocities 42
2.3.2 Rotational Transformations of a Moving Body 43
References 45
3 Multirotor Aerodynamics and Actuation 46
3.1 The Aerodynamics of Rotary Flight 46
3.1.1 Momentum Theory 47
3.1.2 Blade Element Theory 52
3.2 Different Multirotor Configurations 57
3.2.1 Coplanar Configuration of Propulsors 58
3.2.2 Independent Control of All 6 DOF 61
3.3 Aerial Manipulation Actuation 64
3.3.1 DC Motor 65
3.3.2 Brushless DC Motor 80
3.3.3 Servo Drives 85
3.3.4 2-Stroke Internal Combustion Engine 88
References 98
4 Aerial Manipulator Kinematics 99
4.1 Manipulator Concept 99
4.2 Forward Kinematics 100
4.2.1 DH Kinematic Parameters 101
4.2.2 The Arm Equation 105
4.2.3 Moving Base Frame 109
4.3 Inverse Kinematics 112
4.3.1 Tool Configuration 112
4.3.2 Existence and Uniqueness of Solution 113
4.3.3 Closed-Form Solutions 115
4.3.4 Iterative Methods 117
4.4 Inverse Kinematics Through Differential Motion 122
4.4.1 Jacobian Matrix 123
4.4.2 Inverse Kinematics---Jacobian Method 125
4.4.3 Inverting the Jacobian 127
References 134
5 Aerial Manipulator Dynamics 135
5.1 Newton--Euler Dynamic Model 135
5.1.1 Forward Equations in Fixed Base Coordinate System 135
5.1.2 Forward Equations in a UAV (Moving) Coordinate System 139
5.1.3 Multiple Rigid Body System Mass and Moment of Inertia 140
5.1.4 Backward Equations 143
5.2 Lagrange--Euler Model 155
5.2.1 Aerial Robot Kinetic Energy 158
5.2.2 Moment of Inertia 159
5.3 Dynamics of Aerial Manipulator in Contact with Environment 165
5.3.1 Momentary Coupling 168
5.3.2 Loose Coupling 169
5.3.3 Strong Coupling 171
References 174
6 Sensors and Control 176
6.1 Sensors 176
6.1.1 Inertial Measurement Unit 176
6.1.2 Cameras 177
6.1.3 GPS 178
6.1.4 Motion Capture 178
6.2 Sensor Fusion 179
6.2.1 Attitude Estimation 180
6.2.2 Position Estimation 181
6.3 Linear Control System 184
6.3.1 Attitude Control 186
6.3.2 Position Control 192
6.4 Robust and Adaptive Control Applications 195
6.4.1 Gain Scheduling 195
6.4.2 Model Reference Adaptive Control 197
6.4.3 Backstepping Control 201
6.4.4 Hsia - a Robust Adaptive Control Approach 209
6.5 Impedance Control 211
6.6 Switching Stability of Coupling Dynamics 214
References 217
7 Mission Planning and Control 220
7.1 Path Planning 222
7.1.1 Trajectory Generation 223
7.2 Obstacle-Free Trajectory Planning 228
7.2.1 Local Planner 228
7.2.2 Global Planner 229
7.3 Vision-Guided Aerial Manipulation 232
7.3.1 Autonomous Pick and Place 232
7.3.2 Transforming Camera-Detected Pose to Global Pose 235
References 240
8 Erratum to: Introduction 243
Erratum to: M. Orsag et al., Aerial Manipulation, Advances in Industrial Control, https://doi.org/10.1007/978-3-319-61022-1_1 243
Index 244