Suarez, Alejandro (University of Seville), Jimenez Cano, Antonio Enrique (Universidad de Sevilla), VEGA GARCIA, VICTOR (University of Seville), Heredia, Guillermo (University of Seville), Castaño, Ángel Rodríguez (University of Seville), Ollero, Anibal (Universidad de Sevilla)

Lightweight and Human-Size Dual Arm Aerial Manipulator

Scheduled for presentation during the "UAS Applications - IX" (FrC4), Friday, June 16, 2017, 15:40−16:00, Lummus Island

2017 International Conference on Unmanned Aircraft Systems, June 13-16, 2017, Miami Marriott Biscayne Bay, Miami, FL,

This information is tentative and subject to change. Compiled on April 24, 2024

Abstract

This paper presents the design of a dual-arm aerial manipulator consisting of a multi-rotor platform with an ultra-lightweight (1.8 Kg) human-size dual arm prototype and its control system. Each arm provides three degrees of freedom (DOF) for positioning the end-effector, and two DOF for orientation. As most model-based controllers assume that joint torque feedback is available, a torque estimator for the arms is developed. Note that low cost servos used for building low weight manipulators do not provide any torque feedback or control capability. The redundant DOFs in the dual arm prototype are exploited for generating coordinated motions during contact-less phases in such a way that reaction torques can be partially canceled. Preliminary flight tests have been conducted in outdoors, evaluating the torque compensation capability in test-bench. The influence of the reaction torques exerted by the arms over the UAV controller is also analyzed in simulation.