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Helicopter Based Aerial Manipulators

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Aerial Robotic Manipulation

Part of the book series: Springer Tracts in Advanced Robotics ((STAR,volume 129))

Abstract

This chapter presents aerial manipulators composed of a helicopter with an industrial manipulator. The system is described and a model is presented. This model includes the helicopter dynamics and a model of the of the industrial robot LWR III with 7-Degrees of Freedom. The chapter also includes the description of the mechatronics. The first validation experiments including validation flights are also presented.

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References

  1. Aerial Robotics Cooperative Assembly System (2013). http://www.arcas-project.eu. Accessed 20 Oct 2013

  2. Kondak, K., Bernard, M., Meyer, N., Hommel, G.: Autonomously flying VTOL-robots: modeling and control. In: Proceedings - IEEE International Conference on Robotics and Automation, pp. 736–741 (2007)

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  3. Mellinger, D., Lindsey, Q., Shomin, M., Kumar, V.: Design, modeling, estimation and control for aerial grasping and manipulation. In: IEEE International Conference on Intelligent Robots and Systems, pp. 2668–2673 (2011)

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  4. Kondak, K., Krieger, K., Albu-Schäffer, A., Schwarzbach, M., Laiacker, M., Maza, I., Rodriguez-Castano, A., Ollero, A.: Closed-loop behavior of an autonomous helicopter equipped with a robotic arm for aerial manipulation tasks. In: IJARS (2013)

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Author information

Authors and Affiliations

  1. GRVC Robotics Lab Sevilla, Pablo de Olavide University, Seville, Spain

    Manuel Bejar

  2. GRVC Robotics Lab Sevilla, Universidad de Sevilla, Seville, Spain

    Anibal Ollero

  3. Institute of Robotics and Mechatronics, German Aerospace Center (DLR), Munich, Germany

    Konstantin Kondak

Authors
  1. Manuel Bejar
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  2. Anibal Ollero
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  3. Konstantin Kondak
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Corresponding author

Correspondence to Manuel Bejar .

Editor information

Editors and Affiliations

  1. GRVC Robotics Lab Seville, Universidad de Sevilla, Seville, Spain

    Anibal Ollero

  2. Dipartimento di Ingegneria Elettrica e delle Tecnologie dell’Informazione, Università di Napoli Federico II, Napoli, Italy

    Bruno Siciliano

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Cite this chapter

Bejar, M., Ollero, A., Kondak, K. (2019). Helicopter Based Aerial Manipulators. In: Ollero, A., Siciliano, B. (eds) Aerial Robotic Manipulation. Springer Tracts in Advanced Robotics, vol 129. Springer, Cham. https://doi.org/10.1007/978-3-030-12945-3_3

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