Abstract
Control and stabilization of aerial manipulators is a challenging problem due to the effects of the relative movements of the arm and aerial platform on the dynamics. In many cases, conventional multirotor controllers and autopilots are based on the cascaded structure of underactuated mechanical systems, and consider these effects as perturbations. This control scheme, which controls the arm and the aerial platform as two separated systems, is known as decoupled control scheme. In practice, the success of this approach will depend on the design and movements of the arm. This paper presents the analysis of the control performance and stability of an aerial manipulator with a decoupled controller for different speeds of movement and inertia moments of the manipulator arm. The aerial manipulator consists of a hexarotor and a 2-DoF manipulator arm with variable length links. The arm was built in this way to change its inertia, so it may be representative of a widely class of arms used in aerial manipulation. The proposed aerial manipulator has been analysed in simulation tests for two representative tasks. For both cases, the stability limits of the system, represented as stability maps, are identified as a function of the inertial design and the typical velocities of the arm movements. These stability maps are validated through experiments. This analysis will be useful to guide the inertial design of the arm and to define the envelope of arm movements for safe operation.
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Videos of the experiments. https://hdvirtual.us.es/discovirt/index.php/s/yLiw4dEPCynaRcc
Acknowledgment
This work has been supported by the ARTIC project, funded by the Spanish Ministerio de Economía, Industria, y Competitividad (RTI2018-102224-B-I00), and the AERIAL-CORE (H2020-2019-871479) and the AEROTRAIN Marie Skłodowska-Curie (MSCA-ITN-2020-953454) projects, funded by the European Commission.
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González-Morgado, A., Álvarez-Cía, C., Heredia, G., Ollero, A. (2023). Control and Stability of an Aerial Manipulator Depending on the Inertial Parameters. In: Tardioli, D., Matellán, V., Heredia, G., Silva, M.F., Marques, L. (eds) ROBOT2022: Fifth Iberian Robotics Conference. ROBOT 2022. Lecture Notes in Networks and Systems, vol 589. Springer, Cham. https://doi.org/10.1007/978-3-031-21065-5_8
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DOI: https://doi.org/10.1007/978-3-031-21065-5_8
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