Helicopter Based Aerial Manipulators
This chapter presents aerial manipulators composed of a helicopter with an industrial manipulator. The system is described and a model is presented. This model includes the helicopter dynamics and a model of the of the industrial robot LWR III with 7-Degr
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Abstract This chapter presents aerial manipulators composed of a helicopter with an industrial manipulator. The system is described and a model is presented. This model includes the helicopter dynamics and a model of the of the industrial robot LWR III with 7-Degrees of Freedom. The chapter also includes the description of the mechatronics. The first validation experiments including validation flights are also presented.
1 Introduction This chapter presents aerial manipulation systems based on autonomous helicopters with the capability of operating in outdoor scenarios. The aerial platform and the manipulator are the two fundamental subsystems, which define the key properties of the complete aerial manipulation system. The aerial platform has to carry the complete equipment of the manipulation system and other mechatronics related payload, but at the same time it has to be agile and manageable enough. Regarding the manipulator, high performance systems are considered to find out the limits of aerial manipulation with current state of the art in robotics. Two prototypes of helicopter based aerial manipulators have been used to guide the presentation of this chapter. The first, with a helicopter in the classical configuration with a main and a tail rotor, and the second, with two counter-rotating intermeshing rotors, the so called Flettner concept. M. Bejar (B) GRVC Robotics Lab Sevilla, Pablo de Olavide University, Seville, Spain e-mail: [email protected] A. Ollero GRVC Robotics Lab Sevilla, Universidad de Sevilla, Seville, Spain e-mail: [email protected] K. Kondak Institute of Robotics and Mechatronics, German Aerospace Center (DLR), Munich, Germany 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_3
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2 System Description 2.1 Aerial Platform As advanced before, two concepts for the flying platform have been considered: • The classical rotor configuration shown in Fig. 1a is seen on most helicopter designs on the helicopter market. One big main rotor is responsible to generate the overall lift of the system while a smaller tail rotor or ducted fan balances the helicopter against the undesired main rotor torque. In this typical configuration 10–20% of the lift energy consumption in helicopter flight is lost for torque compensation. In addition to that the gyroscopic effects of the helicopter play an important role in control considerations of the aerial manipulation system. From control perspective the main tail configuration helicopter is controlled by four control inputs which result in a pitch, roll, yaw, climb or descent motion of the vehicle. • The Flettner helicopter design shown in Fig. 1b is a helicopter concept with two intermeshing contra-rotating rotors on top avoiding the need of a tail rotor. These platforms can lift a payload as heavy as its own empty weight. Also the absence of tail rotor avoids the associated energy
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