Abstract
This article presents the construction of an aerial manipulator robot composed of one or two robotic arms on an unmanned aerial vehicle, in order to execute control tasks in an autonomous or tele-operated manner. This aerial manipulator robot can work with one or two arms depending on the application requirements. The arms have been designed to serve several purposes: object manipulation and protect the actuating servos against direct impacts and overloads. Finally, a trajectory tracking algorithm is implemented and the simulation results are presented and discussed, which validate the controller and the proposed modeling.
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Acknowledgements
The authors would like to thank the Corporación Ecuatoriana para el Desarrollo de la Investigación and Academia CEDIA for the financing given to research, development, and innovation, through the CEPRA projects, especially the project CEPRA-XIII-2019-08; Sistema colaborativo de robots Aéreos para Manipular Cargas con Optimo Consumo de Recursos; also to Universidad de las Fuerzas Armadas ESPE, Escuela Superior Politécnica de Chimborazo, Universidad Nacional de Chimborazo, Universidad tecnológica Indoamérica, Universidad internacional del Ecuador, Universidad central de Venezuela, and Grupo de Investigación ARSI, for the support to develop this work.
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Loor, S.J., Bejarano, A.R., Silva, F.M., Andaluz, V.H. (2020). Construction and Control Aerial Manipulator Robot. In: Fujita, H., Fournier-Viger, P., Ali, M., Sasaki, J. (eds) Trends in Artificial Intelligence Theory and Applications. Artificial Intelligence Practices. IEA/AIE 2020. Lecture Notes in Computer Science(), vol 12144. Springer, Cham. https://doi.org/10.1007/978-3-030-55789-8_11
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