Citation

BibTex format

@inproceedings{Clark:2022:10.1109/IROS47612.2022.9981736,
author = {Clark, A and Baron, N and Orr, L and Kovac, M and Rojas, N},
doi = {10.1109/IROS47612.2022.9981736},
pages = {7359--7366},
publisher = {IEEE},
title = {On a balanced delta robot for precise aerial manipulation: implementation, testing, and lessons for future designs},
url = {http://dx.doi.org/10.1109/IROS47612.2022.9981736},
year = {2022}
}

RIS format (EndNote, RefMan)

TY  - CPAPER
AB - Using a delta-manipulator for stabilisation of anend-effector to perform precise spatial positioning is a currentarea of interest in aerial manipulation. High speed precisionmovements of a manipulator can cause disturbances to theaerial platform, which hinders trajectory tracking and in somecases could be sufficient to cause a loss of control of the vehicle.In this paper, a statically balanced delta aerial manipulator isdeveloped and evaluated. The system is balanced using threecounter-masses to reduce the force imparted onto the base andthus reduce perturbations to the movement of the drone. Thesystem is thoroughly tested following trajectories while mountedto a force sensor and while on-board an aerial vehicle. Resultsshow that the forces transmitted to the base in all axes arereduced considerably, however improvements in overall flightaccuracy are not observed in aerial settings. Design lessonsto make a balanced delta-manipulator viable for practicalimplementation on an aerial vehicle are discussed in depth.A video summarising the flight testing results is available athttps://youtu.be/fXKnosnVKCk.
AU - Clark,A
AU - Baron,N
AU - Orr,L
AU - Kovac,M
AU - Rojas,N
DO - 10.1109/IROS47612.2022.9981736
EP - 7366
PB - IEEE
PY - 2022///
SP - 7359
TI - On a balanced delta robot for precise aerial manipulation: implementation, testing, and lessons for future designs
UR - http://dx.doi.org/10.1109/IROS47612.2022.9981736
UR - https://ieeexplore.ieee.org/document/9981736
UR - http://hdl.handle.net/10044/1/98951
ER -