Model based motion planning for manipulation with heterogeneous robotic systems under constraints

doctoral thesis

• Title (croatian): Na modelu zasnovano planiranje gibanja heterogenih robotskih sustava za manipuliranje uz ograničenja
• Author: Antun Ivanović
• Mentor: Matko Orsag (mentor)
• Committee member: Stjepan Bogdan (predsjednik povjerenstva)
• Committee member: Ivana Palunko (član povjerenstva)
• Granter: University of Zagreb; Faculty of Electrical Engineering and Computing; Zagreb
• Defense date and country: 2023-06-14, Croatia
• Scientific / art field, discipline and subdiscipline: TECHNICAL SCIENCES; Computing
• Universal decimal classification (UDC): 004 - Computer science and technology. Computing. Data processing

Abstract

The core problem this thesis tackles are the effects produced by the underactuated nature of co-planar multirotors. To change their position, such vehicles first need to execute angular motion. This in turn displaces the manipulator end-effector, which needs to be addressed to successfully manipulate an object and complete the given task. By using the manipulator null space, it is possible to achieve the desired end-effector configuration, even though the multirotor attains some tilt angle. One way to correct the end-effector configuration is online, with an inverse kinematics solver in the loop. However, the inverse kinematics solution might not exist for a given end-effector configuration. Therefore, this thesis incorporates the aerial manipulator dynamical model in the motion planning procedure. First, a trajectory is planned without considering the roll and pitch angles of the multirotor. It is then executed in a simulation that consists of the aerial manipulator mathematical model and the controller structure. While executing the trajectory, the previously unknown roll and pitch angles are recorded. Based on the obtained full state trajectory, the end-effector configuration is corrected by employing the manipulator null space. The final, corrected trajectory is then executed by the system. This method is extensively tested in both simulation environment and real world experiments, employing a classical control, as well as the impedance force control.

Abstract (croatian)

Srž problema kojih se ova disertacija dotiče su posljedice svojstva podaktuiranosti koplanarnih višerotorskih letjelica. Naginjanjem tijela letjelice pomiče se i alat manipulatora, što treba uzeti u obzir kako bi se uspješno odradio zamišljeni zadatak. Korištenjem nul prostora manipulatora moguće je postići željenu konfiguraciju alata u prostoru, čak i dok je tijelo letjelice nagnuto za neki kut. Jedan od načina ispravljanja konfiguracije alata je korištenjem inverzne kinematike u upravljačkoj petlji za vrijeme izvođenja planiranog gibanja. Glavni nedostatak takvog pristupa je da rješenje za željenu konfiguraciju alata ne postoji. Kako bi se riješio navedeni problem, ova disertacija uključuje dinamički model bespilotnog zračnog manipulatora u proceduru planiranja gibanja. Prvi korak je planiranje željene trajektorije vrha alata manipulatora uz pretpostavku da su kutevi valjanja i poniranja letjelice jednaki nuli. Inicijalna trajektorija se izvodi pomoću matematičkog modela sustava, uz upravljačku strukturu koja odgovara konačnom sustavu. Za vrijeme izvođenja trajektorije se spremaju prethodno nepoznate veličine kuteva, na temelju kojih se konstruira vektor stanja sustava pomoću kojega se korigira konfiguracija vrha alata. Konačna trajektorija dobivena na ovaj način se nakon toga šalje na sustav. Opisana metoda je ispitana u simulacijskom okruženju te kroz eksperimente u stvarnom svijetu, uz korištenje standardnog upravljanja višerotorskom letjelicom i impedantnog upravljanja silom.

• Keywords: Unmanned Aerial Vehicle; Aerial Manipulation; Motion Planning; Multi-Robot Systems
• Keywords (croatian): bespilotna zračna letjelica; zračna manipulacija; planiranje gibanja; višerobotski sustavi
• Language: english
• URN:NBN: urn:nbn:hr:168:323207
• Promotion: 2024
• Study programme: Title: Computer Science; Study programme type: university; Study level: postgraduate; Academic / professional title: Doktor znanosti (Doktor znanosti)
• Type of resource: Text
• Extent: x, 161 str. : graf. prikazi
• File origin: Born digital
• Access conditions: Open access
• Created on: 2024-02-22 08:23:12