Mostrar el registro sencillo del ítem
dc.contributor.author
Carvajal Cabrera, Christian Patricio
![Se ha confirmado la validez de este valor de autoridad por un usuario](/themes/CONICETDigital/images/authority_control/invisible.gif)
dc.contributor.author
Andaluz, Víctor
![Se ha confirmado la validez de este valor de autoridad por un usuario](/themes/CONICETDigital/images/authority_control/invisible.gif)
dc.contributor.author
Roberti, Flavio
![Se ha confirmado la validez de este valor de autoridad por un usuario](/themes/CONICETDigital/images/authority_control/invisible.gif)
dc.contributor.author
Carelli Albarracin, Ricardo Oscar
![Se ha confirmado la validez de este valor de autoridad por un usuario](/themes/CONICETDigital/images/authority_control/invisible.gif)
dc.date.available
2024-05-14T15:31:11Z
dc.date.issued
2022-12
dc.identifier.citation
Carvajal Cabrera, Christian Patricio; Andaluz, Víctor; Roberti, Flavio; Carelli Albarracin, Ricardo Oscar; Path-following control for aerial manipulators robots with priority on energy saving; Pergamon-Elsevier Science Ltd; Control Engineering Practice; 131; 12-2022; 1-17
dc.identifier.issn
0967-0661
dc.identifier.uri
http://hdl.handle.net/11336/235354
dc.description.abstract
Nowadays, performing active tasks with aerial robots has become a great challenge to execute them autonomously or semi-autonomously. In this context, there is great importance to emphasize the control and energy consumption that is produced at the time of performing these tasks with an aerial mobile manipulator robot. In this context, this paper presents a new control scheme for the task of path-following through the end-effector of an aerial mobile manipulator robot prioritizing energy consumption. The proposed controller is designed according to the kinematics of the system considering the high redundancy of the aerial mobile manipulator robot composed of an aerial platform and an anthropomorphic robotic arm. Therefore, the proposed controller allows two control objectives. The main objective is the path-following by the end-effector of the aerial mobile manipulator robot, considering a variable path-following speed according to the referencesof the desired task; and the secondary objective is the energy saving by modifying the internal structure of the robot according to the parameters of the desired path to follow. Three configurations are proposed to modify the internal structure of the robot: (i) configuration for paths with curvature variations on the Z-axis of the fixed reference system; (ii) configuration with curvature variations of the desired path in the XY plane and; and (iii) configuration for curvature variations of the desired path in the XYZ space. In order to validate the proposed controller different experimental tests are performed in an unstructured environment, the proposed controller is compared with a path following controller based on inverse kinematics that allows to completethe desired task at constant speed and constant internal configuration of the robot. Through the experimental results an approximate 10% energy saving is achieved with the proposed controller during path-following.
dc.format
application/pdf
dc.language.iso
eng
dc.publisher
Pergamon-Elsevier Science Ltd
![Se ha confirmado la validez de este valor de autoridad por un usuario](/themes/CONICETDigital/images/authority_control/invisible.gif)
dc.rights
info:eu-repo/semantics/restrictedAccess
dc.rights.uri
https://creativecommons.org/licenses/by-nc-sa/2.5/ar/
dc.subject
Aerial Manipulators
dc.subject
Path Following Control
dc.subject
Energy Saving
dc.subject.classification
Control Automático y Robótica
![Se ha confirmado la validez de este valor de autoridad por un usuario](/themes/CONICETDigital/images/authority_control/invisible.gif)
dc.subject.classification
Ingeniería Eléctrica, Ingeniería Electrónica e Ingeniería de la Información
![Se ha confirmado la validez de este valor de autoridad por un usuario](/themes/CONICETDigital/images/authority_control/invisible.gif)
dc.subject.classification
INGENIERÍAS Y TECNOLOGÍAS
![Se ha confirmado la validez de este valor de autoridad por un usuario](/themes/CONICETDigital/images/authority_control/invisible.gif)
dc.title
Path-following control for aerial manipulators robots with priority on energy saving
dc.type
info:eu-repo/semantics/article
dc.type
info:ar-repo/semantics/artículo
dc.type
info:eu-repo/semantics/publishedVersion
dc.date.updated
2024-05-14T13:33:39Z
dc.journal.volume
131
dc.journal.pagination
1-17
dc.journal.pais
Estados Unidos
![Se ha confirmado la validez de este valor de autoridad por un usuario](/themes/CONICETDigital/images/authority_control/invisible.gif)
dc.description.fil
Fil: Carvajal Cabrera, Christian Patricio. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - San Juan. Instituto de Automática. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; Argentina
dc.description.fil
Fil: Andaluz, Víctor. Universidad de Las Fuerzas Armadas; Ecuador
dc.description.fil
Fil: Roberti, Flavio. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - San Juan. Instituto de Automática. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; Argentina
dc.description.fil
Fil: Carelli Albarracin, Ricardo Oscar. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - San Juan. Instituto de Automática. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; Argentina
dc.journal.title
Control Engineering Practice
![Se ha confirmado la validez de este valor de autoridad por un usuario](/themes/CONICETDigital/images/authority_control/invisible.gif)
dc.relation.alternativeid
info:eu-repo/semantics/altIdentifier/url/https://www.sciencedirect.com/science/article/pii/S0967066122002325?via%3Dihub
dc.relation.alternativeid
info:eu-repo/semantics/altIdentifier/doi/https://doi.org/10.1016/j.conengprac.2022.105401
Archivos asociados