Theory and Applications for Control of Aerial Robots in Physical Interaction Through Tethers - read free eBook in online reader or directly download on the web page. Select files or add your book in reader. Download and read online ebook Theory and Applications for Control of Aerial Robots in Physical Interaction Through Tethers write by Marco Tognon. This book was released on 2020-06-26. Theory and Applications for Control of Aerial Robots in Physical Interaction Through Tethers available in PDF, EPUB and Kindle. 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.
Theory and Applications for Control and Motion Planning of Aerial Robots in Physical Interaction with Particular Focus on Tethered Aerial Vehicles
Theory and Applications for Control and Motion Planning of Aerial Robots in Physical Interaction with Particular Focus on Tethered Aerial Vehicles - read free eBook in online reader or directly download on the web page. Select files or add your book in reader. Download and read online ebook Theory and Applications for Control and Motion Planning of Aerial Robots in Physical Interaction with Particular Focus on Tethered Aerial Vehicles write by Marco Tognon. This book was released on 2018. Theory and Applications for Control and Motion Planning of Aerial Robots in Physical Interaction with Particular Focus on Tethered Aerial Vehicles available in PDF, EPUB and Kindle. This thesis focuses on the study of autonomous aerial robots interacting with the surrounding environment, and in particular on the design of new control and motion planning methods for such systems. Nowadays, autonomous aerial vehicles are extensively employed in many fields of application but mostly as autonomously moving sensors. On the other hand, in the recent field of aerial physical interaction, the goal is to go beyond sensing-only applications and fully exploit the aerial robots capabilities in order to interact with the environment. With the aim of achieving this goal, this thesis considers the analysis of a particular class of aerial robots interacting with the environment: tethered aerial vehicles. This work focuses on the thorough formal analysis of tethered aerial vehicles ranging from control and state estimation to motion planning. In particular, the differential flatness property of the system is investigated, finding two possible flat outputs that reveal new capabilities of such system for the physical interaction. The theoretical results were finally employed to solve the challenging problem of landing and takeoff on/from a sloped surface. In addition, moved by the interest on aerial physical interaction from A to Z, we addressed supplementary problems related to the design, control and motion planning for aerial manipulators.
Design, Modeling and Control of Aerial Robots for Physical Interaction and Manipulation
Design, Modeling and Control of Aerial Robots for Physical Interaction and Manipulation - read free eBook in online reader or directly download on the web page. Select files or add your book in reader. Download and read online ebook Design, Modeling and Control of Aerial Robots for Physical Interaction and Manipulation write by Burak Yüksel . This book was released on 2017-06-10. Design, Modeling and Control of Aerial Robots for Physical Interaction and Manipulation available in PDF, EPUB and Kindle. 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.
Aerial Robots
Aerial Robots - read free eBook in online reader or directly download on the web page. Select files or add your book in reader. Download and read online ebook Aerial Robots write by Omar D Lopez Mejia. This book was released on 2017-09-06. Aerial Robots available in PDF, EPUB and Kindle. 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.
Model-Based Control of Flying Robots for Robust Interaction Under Wind Influence
Model-Based Control of Flying Robots for Robust Interaction Under Wind Influence - read free eBook in online reader or directly download on the web page. Select files or add your book in reader. Download and read online ebook Model-Based Control of Flying Robots for Robust Interaction Under Wind Influence write by Teodor Tomić. This book was released on 2022-10-07. Model-Based Control of Flying Robots for Robust Interaction Under Wind Influence available in PDF, EPUB and Kindle. 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.
