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Dual Arm Aerial Manipulation While Flying, Holding and Perching: Comparative Case Study

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ROBOT2022: Fifth Iberian Robotics Conference (ROBOT 2022)

Part of the book series: Lecture Notes in Networks and Systems ((LNNS,volume 589))

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Abstract

This paper presents a comparative study of three operation modes for an aerial manipulation robot, considering as illustrative application example the realization of maintenance operations on power lines while flying, holding, or perching. Relying in our previous works, and taking into account practical considerations and limitations of the aerial platforms and the manipulators in outdoor scenarios, this paper provides a qualitative and quantitative evaluation and comparison of these three operation modes, identifying some relevant factors that determine the reliability of the system in the realization of the intended task. The paper is mainly focused on lightweight and compliant dual arm manipulators that allow the realization of dexterous and bimanual manipulation tasks on flight, as well as the use of one of the arms for estimating the aerial robot position with respect to a grasping point, or exploiting the kinematic redundancy of the arms to maintain the equilibrium while perching on the power line once deployed in the workspace. The paper also considers the dynamics and control of the aerial manipulator in the usual decoupled scheme, identifying the key terms in the model that determine the behavior of the coupled dynamics according to the particular configuration of the arms when integrated in the aerial platform.

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Acknowledgments

This work is supported by the AERIAL-CORE project (H2020-2019-871479) funded by the European Commission, the HAERA (“Sistema robótico híbrido aéreo-acuático para muestreo, monitorización e intervención”, PID2020-119027RB-I00) and the ROBMIND projects (“Robots aéreos inteligentes para inspección y mantenimiento de instalaciones industriales”, PDC2021-121524-I00) funded by the Spanish Ministerio de Ciencia e Innovacion. The work of Alejandro Suarez is funded by the Consejería de Transformación Económica, Industria, Conocimiento y Universidades de la Junta de Andalucía (Spain) through a post-doctoral research grant.

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Authors and Affiliations

  1. GRVC Robotics Labs, University of Seville, Seville, Spain

    Alejandro Suarez & Anibal Ollero

Authors
  1. Alejandro Suarez
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  2. Anibal Ollero
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Corresponding author

Correspondence to Alejandro Suarez .

Editor information

Editors and Affiliations

  1. Centro Universitario de la Defensa (CUD), Zaragoza, Spain

    Danilo Tardioli

  2. Grupo de Robótica, Universidad de León, León, Spain

    Vicente Matellán

  3. GRVC Robotics Lab, Escuela Técnica Superior de Ingeniería, Universidad de Sevilla, Sevilla, Spain

    Guillermo Heredia

  4. School of Engineering, Polytechnic Institute of Porto, Porto, Portugal

    Manuel F. Silva

  5. Institute of Systems and Robotics, University of Coimbra, Coimbra, Portugal

    Lino Marques

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Suarez, A., Ollero, A. (2023). Dual Arm Aerial Manipulation While Flying, Holding and Perching: Comparative Case Study. 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_22

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