Aerial Manipulation (hb 2017)

This text is a thorough treatment of the rapidly growing area of aerial manipulation. It details all the design steps required for the modeling and control of unmanned aerial vehicles (UAV) equipped with robotic manipulators. Starting with the physical basics of rigid-body kinematics, the book gives an in-depth presentation of local and global coordinates, together with the representation of orientation and motion in fixed- and moving-coordinate systems. Coverage of the kinematics and dynamics of unmanned aerial vehicles is developed in a succession of popular UAV configurations for multirotor systems. Such an arrangement, supported by frequent examples and end-of-chapter exercises, leads the reader from simple to more complex UAV configurations. Propulsion-system aerodynamics, essential in UAV design, is analyzed through blade-element and momentum theories, analysis which is followed by a description of drag and ground-aerodynamic effects. The central part of the book is dedicated to aerial-manipulator kinematics, dynamics, and control. Based on foundations laid in the opening chapters, this portion of the book is a structured presentation of Newton–Euler dynamic modeling that results in forward and backward equations in both fixed- and moving-coordinate systems. The Lagrange–Euler approach is applied to expand the model further, providing formalisms to model the variable moment of inertia later used to analyze the dynamics of aerial manipulators in contact with the environment. Using knowledge from sensor data, insights are presented into the ways in which linear, robust, and adaptive control techniques can be applied in aerial manipulation so as to tackle the real-world problems faced by scholars and engineers in the design and implementation of aerial robotics systems. The book is completed by path and trajectory planning with vision-based examples for tracking and manipulation. Series Editors’ Foreword 7 Preface 9 Acknowledgements 11 Contents 12 1 Introduction 15 1.1 The State of the Art and Future of Aerial Robotics 15 1.1.1 Physical Interactions 16 1.1.2 Aerial Manipulation 18 1.1.3 The Design of Aerial Manipulation Systems 23 1.1.4 Applications 25 1.1.5 Conclusions and Future of Aerial Robotics 26 1.2 Structure of the Book 27 References 30 2 Coordinate Systems and Transformations 33 2.1 Coordinate Systems 33 2.1.1 Global Coordinate System 33 2.1.2 Local Coordinate System 35 2.1.3 Coordinate System Representation 36 2.2 Coordinate Transformations 37 2.2.1 Orientation Representation 38 2.2.2 Euler Angles 39 2.2.3 Change of Frame 40 2.2.4 Translation and Rotation 40 2.3 Motion Kinematics 42 2.3.1 Linear and Angular Velocities 42 2.3.2 Rotational Transformations of a Moving Body 43 References 45 3 Multirotor Aerodynamics and Actuation 46 3.1 The Aerodynamics of Rotary Flight 46 3.1.1 Momentum Theory 47 3.1.2 Blade Element Theory 52 3.2 Different Multirotor Configurations 57 3.2.1 Coplanar Configuration of Propulsors 58 3.2.2 Independent Control of All 6 DOF 61 3.3 Aerial Manipulation Actuation 64 3.3.1 DC Motor 65 3.3.2 Brushless DC Motor 80 3.3.3 Servo Drives 85 3.3.4 2-Stroke Internal Combustion Engine 88 References 98 4 Aerial Manipulator Kinematics 99 4.1 Manipulator Concept 99 4.2 Forward Kinematics 100 4.2.1 DH Kinematic Parameters 101 4.2.2 The Arm Equation 105 4.2.3 Moving Base Frame 109 4.3 Inverse Kinematics 112 4.3.1 Tool Configuration 112 4.3.2 Existence and Uniqueness of Solution 113 4.3.3 Closed-Form Solutions 115 4.3.4 Iterative Methods 117 4.4 Inverse Kinematics Through Differential Motion 122 4.4.1 Jacobian Matrix 123 4.4.2 Inverse Kinematics---Jacobian Method 125 4.4.3 Inverting the Jacobian 127 References 134 5 Aerial Manipulator Dynamics 135 5.1 Newton--Euler Dynamic Model 135 5.1.1 Forward Equations in Fixed Base Coordinate System 135 5.1.2 Forward Equations in a UAV (Moving) Coordinate System 139 5.1.3 Multiple Rigid Body System Mass and Moment of Inertia 140 5.1.4 Backward Equations 143 5.2 Lagrange--Euler Model 155 5.2.1 Aerial Robot Kinetic Energy 158 5.2.2 Moment of Inertia 159 5.3 Dynamics of Aerial Manipulator in Contact with Environment 165 5.3.1 Momentary Coupling 168 5.3.2 Loose Coupling 169 5.3.3 Strong Coupling 171 References 174 6 Sensors and Control 176 6.1 Sensors 176 6.1.1 Inertial Measurement Unit 176 6.1.2 Cameras 177 6.1.3 GPS 178 6.1.4 Motion Capture 178 6.2 Sensor Fusion 179 6.2.1 Attitude Estimation 180 6.2.2 Position Estimation 181 6.3 Linear Control System 184 6.3.1 Attitude Control 186 6.3.2 Position Control 192 6.4 Robust and Adaptive Control Applications 195 6.4.1 Gain Scheduling 195 6.4.2 Model Reference Adaptive Control 197 6.4.3 Backstepping Control 201 6.4.4 Hsia - a Robust Adaptive Control Approach 209 6.5 Impedance Control 211 6.6 Switching Stability of Coupling Dynamics 214 References 217 7 Mission Planning and Control 220 7.1 Path Planning 222 7.1.1 Trajectory Generation 223 7.2 Obstacle-Free Trajectory Planning 228 7.2.1 Local Planner 228 7.2.2 Global Planner 229 7.3 Vision-Guided Aerial Manipulation 232 7.3.1 Autonomous Pick and Place 232 7.3.2 Transforming Camera-Detected Pose to Global Pose 235 References 240 Index 243 Front Matter ....Pages i-xv Introduction (Anibal Ollero)....Pages 1-18 Coordinate Systems and Transformations (Matko Orsag, Christopher Korpela, Paul Oh, Stjepan Bogdan)....Pages 19-31 Multirotor Aerodynamics and Actuation (Matko Orsag, Christopher Korpela, Paul Oh, Stjepan Bogdan)....Pages 33-85 Aerial Manipulator Kinematics (Matko Orsag, Christopher Korpela, Paul Oh, Stjepan Bogdan)....Pages 87-122 Aerial Manipulator Dynamics (Matko Orsag, Christopher Korpela, Paul Oh, Stjepan Bogdan)....Pages 123-163 Sensors and Control (Matko Orsag, Christopher Korpela, Paul Oh, Stjepan Bogdan)....Pages 165-208 Mission Planning and Control (Matko Orsag, Christopher Korpela, Paul Oh, Stjepan Bogdan)....Pages 209-231 Erratum to: Introduction (Anibal Ollero)....Pages E1-E1 Back Matter ....Pages 233-235