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Design, Reachability Analysis, and Constrained Motion Planning for a Quadcopter Manipulator System

Sumathy, V and Warier, R and Ghose, D (2022) Design, Reachability Analysis, and Constrained Motion Planning for a Quadcopter Manipulator System. In: AIAA Science and Technology Forum and Exposition, 3-7 Jan 2022, San Diego.

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Official URL: https://doi.org/10.2514/6.2022-0269

Abstract

This paper presents a detailed workspace analysis of an aerial robot and a motion planning algorithm to generate the robotic arm�s feasible motion in the reachable workspace. An aerial robot consists of a quadcopter and a three degree of freedom manipulator attached to the bottom of the aerial vehicle. The quadcopter-manipulator system can reach otherwise hardto-reach locations, and the manipulator can perform different tasks. Serial link manipulators have a larger workspace and relatively uncomplicated kinematics. In the proposed system, the manipulator�s workspace is constrained due to various factors like the downwash of the drone, torque limits, singular configurations, and mechanical structure. The effect of these factors on the reachable workspace is analytically studied in this work. Based on the constraints, a reachable workspace is derived. Finally, a motion planning algorithm that considers these constraints and generates feasible arm configurations is developed. A minimum acceleration trajectory is then generated to reach a given target location. The proposed motion planning algorithm is implemented on the quadcopter manipulator system�s unified dynamics, simulated, and validated in MATLAB and ROS/Gazebo platform. © 2022, American Institute of Aeronautics and Astronautics Inc, AIAA. All rights reserved.

Item Type: Conference Paper
Publication: AIAA Science and Technology Forum and Exposition, AIAA SciTech Forum 2022
Publisher: American Institute of Aeronautics and Astronautics Inc, AIAA
Additional Information: The copyright for this article belongs to American Institute of Aeronautics and Astronautics Inc, AIAA
Keywords: Antennas; Aviation; Degrees of freedom (mechanics); Motion planning; Robot programming, Aerial robots; Aerial vehicle; Constrained motion; Manipulator systems; Motion planning algorithms; Motion-planning; Reachability analysis; Reachable workspace; Three degree of freedoms; Workspace analysis, Manipulators
Department/Centre: Division of Mechanical Sciences > Aerospace Engineering(Formerly Aeronautical Engineering)
Date Deposited: 07 Feb 2022 12:01
Last Modified: 07 Feb 2022 12:01
URI: http://eprints.iisc.ac.in/id/eprint/71167

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