Effect of constraints and vertical wall interaction on workspace of a quadcopter manipulator system

Sumathy, V and Warier, RR and Ghose, D (2023) Effect of constraints and vertical wall interaction on workspace of a quadcopter manipulator system. In: Proceedings of the Institution of Mechanical Engineers, Part G: Journal of Aerospace Engineering, 237 (15).

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Abstract

The workspace analysis of a robotic arm coupled to an unmanned aerial vehicle executing close-to-target operations is significant. The workspace of a 3 degree-of-freedom manipulator mounted to the bottom of a quadcopter and having an extended workspace is analyzed in this research, along with a motion planning algorithm. The quadcopter manipulator system comprises a robotic arm attached to the quadcopter’s center of gravity at its bottom. The manipulator has an extended workspace as its end-effector can reach three-dimensional locations above and below the drone’s airframe. The arm’s workspace is determined by system kinematics. Certain factors like downwash from the drone, the robotic arm’s singularity, servo motor stall torques, and mechanical structure limit the arm’s workspace during real-time tasks. A detailed description of these factors and their impact on the arm’s reachable workspace is also provided. Based on these limitations, the motion planning algorithm verifies the viability of a specific arm configuration and, therefore, the feasibility of the task. A concept called the near-wall effect and strategies to limit its influence on aerial robots are presented to comprehend the effect of a wall on the system in tasks involving targets on a compound wall. The proposed research outcomes are evaluated using MATLAB and ROS/Gazebo simulations. © IMechE 2023.

Item Type:	Journal Article
Publication:	Proceedings of the Institution of Mechanical Engineers, Part G: Journal of Aerospace Engineering
Publisher:	SAGE Publications Ltd
Additional Information:	The copyright for this article belongs to the SAGE Publications Ltd.
Keywords:	Antennas; Degrees of freedom (mechanics); Drones; Manipulators; Motion planning; Robot programming; Robotic arms, Aaerial robot; Aerial vehicle; Manipulator systems; Motion planning algorithms; Near-wall effects; Operated systems; Quadcopter manipulator system; Robot operated system/gazebo simulation; Vertical wall; Workspace analysis, MATLAB
Department/Centre:	Division of Interdisciplinary Sciences > Robert Bosch Centre for Cyber Physical Systems Division of Mechanical Sciences > Aerospace Engineering(Formerly Aeronautical Engineering)
Date Deposited:	22 Nov 2023 09:07
Last Modified:	22 Nov 2023 09:07
URI:	https://eprints.iisc.ac.in/id/eprint/83210

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