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Teleoperation of an Aerial Manipulator Robot with a Focus on Teaching: Learning Processes

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Advances in Information and Communication (FICC 2024)

Part of the book series: Lecture Notes in Networks and Systems ((LNNS,volume 921))

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Abstract

This paper presents a bilateral teleoperation scheme for the aerial manipulator consisting of a 3DOF robotic arm on a six-propeller unmanned aerial vehicle (Matrix 600 Pro), which allows the operator to perform complex tasks in partially structured environments. The development of the controller is based on the kinematic model of the aerial manipulator, which allows precise control of its movements in relation to the use of a haptic device (Falcon Novint), which allows a feedback of forces from the operator environment. In addition, a teleoperation control scheme is proposed that performs actions in: i) Locomotion mode, this allows the manipulation and navigation of the robot’s movement; ii) Navigation mode, which allows transmitting the desired movement of the UAV by means of speed signals; and iii) Manipulation mode, allows to transmit the desired movement of the robotic arm through positions. Tests were performed in a virtual reality environment, in order to test control algorithms and perform simulations that resemble the conditions of a real environment, in addition experimental tests of the proposed teleoperation scheme were performed, obtaining an optimal behavior of the aerial manipulator robot. Finally, simulation results will be presented to validate and test the teleoperation scheme.

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Authors and Affiliations

  1. Universidad de Las Fuerzas Armadas ESPE, Sangolquí, Ecuador

    Alex R. Chanataxi & Jessica S. Ortiz

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  1. Alex R. Chanataxi
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  2. Jessica S. Ortiz
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Correspondence to Jessica S. Ortiz .

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  1. Saga University, Saga, Japan

    Kohei Arai

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Chanataxi, A.R., Ortiz, J.S. (2024). Teleoperation of an Aerial Manipulator Robot with a Focus on Teaching: Learning Processes. In: Arai, K. (eds) Advances in Information and Communication. FICC 2024. Lecture Notes in Networks and Systems, vol 921. Springer, Cham. https://doi.org/10.1007/978-3-031-54053-0_29

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