Behavioral Coordinated Kinematic Control
Aerial Robotic Manipulators are systems characterized by a large number of degrees of freedom. The designer’s aim, in addition to move the end-effector, is to take into account, at the same time, several additional control objectives such as, for example,
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Abstract Aerial Robotic Manipulators are systems characterized by a large number of degrees of freedom. The designer’s aim, in addition to move the end-effector, is to take into account, at the same time, several additional control objectives such as, for example, all the safety-related tasks. This Part of the book addresses a possible control approach to achieve coordinated, whole-body control. The solution considered, developed at the kinematic level, lies within a behavioral architecture.
1 Introduction Recent aerial robots are equipped with arms and correspondingly defined Aerial Robotic Manipulator (AROMA) systems which provides the system with a large number of DOFs (Degrees of Freedoms). Among the various control problems arising with this kind of structures, largely afforded elsewhere in this book, this section handles the motion coordination at kinematic level under a behavioral framework. Figure 1 shows a vehicle-manipulator system available at Center for Advanced Aerospace Technologies (CATEC) in Sevilla, Spain. The main control objective, basically the reason why there is an arm, is to control the end-effector position and/or orientation. However, being the system rich in DOFs, additional control objectives ma be considered both for safety or optimization reasons. As an example, obstacle avoidance, self-hitting or mechanical joint limits need to be handled. Control of redundant robots is a huge topic in robotics covered by textbooks [1], among the various possible approaches behavioral control gained popularity in the last decades [2]. It is worth noticing that, the work being made often by researchers belonging to different communities, the words behaviors and task are often used as synonyms, i.e., a specific control objective to be controlled in a coordinated way with others. Multiple tasks control of high-DOFs structures can be roughly classified in two categories, model-based, or inverse-dynamics-based, and kinematic. The first G. Antonelli (B) Department of Electrical and Information Engineering, University of Cassino, Cassino, Italy e-mail: [email protected] © Springer Nature Switzerland AG 2019 A. Ollero and B. Siciliano (eds.), Aerial Robotic Manipulation, Springer Tracts in Advanced Robotics 129, https://doi.org/10.1007/978-3-030-12945-3_7
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Fig. 1 Vehicle-manipulator system available at CATEC in Seville, Spain
Fig. 2 Block scheme of a kinematic controller/behavioral scheme. The architecture separates the kinematic level from the dynamic/low level one
category is derived from the seminal work [3] that first introduces the operational space formulation. The kinematic approaches separates the kinematic from the dynamic level by adopting a control strategy as the one shown in Fig. 2. The latter scheme does not require knowledge of the dynamic model since the dynamic controller may even be a linear PID. In some experimental set-up this choice is mandatory due to the impossibility to control the motors in current or torque. At the best of our knowledge this is the case f
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