Open-Access Platform for the Simulation of Aerial Robotic Manipulators

Autores
Varela Aldás, José; Recalde, Luis F.; Guevara, Bryan S.; Andaluz, Victor H.; Gandolfo, Daniel
Año de publicación
2024
Idioma
inglés
Tipo de recurso
artículo
Estado
versión publicada
Descripción
Recent technological advances have brought increased attention to aerial robotic manipulators(ARMs), particularly in applications that involve physical interactions using tools such as welding and drilling, as well as in the autonomous pickup and transport of objects. However, translating control algorithms into real-world applications for aerial robotic manipulators may prove hallenging, given the potential for accidents and the time-consuming nature of experiments; furthermore, the acquisition of aerial robotic manipulators could impose a substantial financial burden on universities, research centers, and companies. Therefore, this work addresses these issues by developing an open access platform to simulate aerial robotic manipulators and test control strategies. The presented simulator is based on the kinematics and dynamics of the Matrice-100 aerial platform equipped with a 3 DOF robotic arm, where the mathematical formulation was developed using the Euler-Lagrange formalism. In addition, optimization techniques were used to perform the parameter identification procedure, ensuring the development of an accurate model for the open-access platform. The simulator platform is built upon the integration of Python, the Robot Operating System (ROS), and Unity 3D. These components collaborate to describe and demonstrate the behavior of the aerial robotic manipulator during the test process of control system algorithms. Simple tests were conducted to validate the open-access simulator platform. The proposed approach ensures the evaluation, testing of control strategies, and the ability to conduct experiments before hardware implementations. Finally, the proposal was published as an open source platform available in the following Code.
Fil: Varela Aldás, José. Universidad Tecnológica Indoamérica; Ecuador
Fil: Recalde, Luis F.. Universidad Tecnológica Indoamérica; Ecuador
Fil: Guevara, Bryan S.. 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
Fil: Andaluz, Victor H.. Universidad de Las Fuerzas Armadas - Espe; Ecuador
Fil: Gandolfo, Daniel. 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
Materia
ROBOTIC SIMULATION
AERIAL ROBOTIC
OPEN SOURCE
CONTROL ALGORITHMS
Nivel de accesibilidad
acceso abierto
Condiciones de uso
https://creativecommons.org/licenses/by-nc-sa/2.5/ar/
Repositorio
CONICET Digital (CONICET)
Institución
Consejo Nacional de Investigaciones Científicas y Técnicas
OAI Identificador
oai:ri.conicet.gov.ar:11336/258440
Acceder
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network_name_str CONICET Digital (CONICET)
spelling Open-Access Platform for the Simulation of Aerial Robotic ManipulatorsVarela Aldás, JoséRecalde, Luis F.Guevara, Bryan S.Andaluz, Victor H.Gandolfo, DanielROBOTIC SIMULATIONAERIAL ROBOTICOPEN SOURCECONTROL ALGORITHMShttps://purl.org/becyt/ford/2.2https://purl.org/becyt/ford/2Recent technological advances have brought increased attention to aerial robotic manipulators(ARMs), particularly in applications that involve physical interactions using tools such as welding and drilling, as well as in the autonomous pickup and transport of objects. However, translating control algorithms into real-world applications for aerial robotic manipulators may prove hallenging, given the potential for accidents and the time-consuming nature of experiments; furthermore, the acquisition of aerial robotic manipulators could impose a substantial financial burden on universities, research centers, and companies. Therefore, this work addresses these issues by developing an open access platform to simulate aerial robotic manipulators and test control strategies. The presented simulator is based on the kinematics and dynamics of the Matrice-100 aerial platform equipped with a 3 DOF robotic arm, where the mathematical formulation was developed using the Euler-Lagrange formalism. In addition, optimization techniques were used to perform the parameter identification procedure, ensuring the development of an accurate model for the open-access platform. The simulator platform is built upon the integration of Python, the Robot Operating System (ROS), and Unity 3D. These components collaborate to describe and demonstrate the behavior of the aerial robotic manipulator during the test process of control system algorithms. Simple tests were conducted to validate the open-access simulator platform. The proposed approach ensures the evaluation, testing of control strategies, and the ability to conduct experiments before hardware implementations. Finally, the proposal was published as an open source platform available in the following Code.Fil: Varela Aldás, José. Universidad Tecnológica Indoamérica; EcuadorFil: Recalde, Luis F.. Universidad Tecnológica Indoamérica; EcuadorFil: Guevara, Bryan S.. 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; ArgentinaFil: Andaluz, Victor H.. Universidad de Las Fuerzas Armadas - Espe; EcuadorFil: Gandolfo, Daniel. 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; ArgentinaInstitute of Biomedical Engineering2024-04info:eu-repo/semantics/articleinfo:eu-repo/semantics/publishedVersionhttp://purl.org/coar/resource_type/c_6501info:ar-repo/semantics/articuloapplication/pdfapplication/pdfhttp://hdl.handle.net/11336/258440Varela Aldás, José; Recalde, Luis F.; Guevara, Bryan S.; Andaluz, Victor H.; Gandolfo, Daniel; Open-Access Platform for the Simulation of Aerial Robotic Manipulators; Institute of Biomedical Engineering; IEEE Access; 12; 4-2024; 49735-497512169-3536CONICET DigitalCONICETenginfo:eu-repo/semantics/altIdentifier/url/https://ieeexplore.ieee.org/document/10491265/info:eu-repo/semantics/altIdentifier/doi/10.1109/ACCESS.2024.3384986info:eu-repo/semantics/openAccesshttps://creativecommons.org/licenses/by-nc-sa/2.5/ar/reponame:CONICET Digital (CONICET)instname:Consejo Nacional de Investigaciones Científicas y Técnicas2025-09-03T10:02:18Zoai:ri.conicet.gov.ar:11336/258440instacron:CONICETInstitucionalhttp://ri.conicet.gov.ar/Organismo científico-tecnológicoNo correspondehttp://ri.conicet.gov.ar/oai/requestdasensio@conicet.gov.ar; lcarlino@conicet.gov.arArgentinaNo correspondeNo correspondeNo correspondeopendoar:34982025-09-03 10:02:18.929CONICET Digital (CONICET) - Consejo Nacional de Investigaciones Científicas y Técnicasfalse
dc.title.none.fl_str_mv Open-Access Platform for the Simulation of Aerial Robotic Manipulators
title Open-Access Platform for the Simulation of Aerial Robotic Manipulators
spellingShingle Open-Access Platform for the Simulation of Aerial Robotic Manipulators
Varela Aldás, José
ROBOTIC SIMULATION
AERIAL ROBOTIC
OPEN SOURCE
CONTROL ALGORITHMS
title_short Open-Access Platform for the Simulation of Aerial Robotic Manipulators
title_full Open-Access Platform for the Simulation of Aerial Robotic Manipulators
title_fullStr Open-Access Platform for the Simulation of Aerial Robotic Manipulators
title_full_unstemmed Open-Access Platform for the Simulation of Aerial Robotic Manipulators
title_sort Open-Access Platform for the Simulation of Aerial Robotic Manipulators
dc.creator.none.fl_str_mv Varela Aldás, José
Recalde, Luis F.
Guevara, Bryan S.
Andaluz, Victor H.
Gandolfo, Daniel
author Varela Aldás, José
author_facet Varela Aldás, José
Recalde, Luis F.
Guevara, Bryan S.
Andaluz, Victor H.
Gandolfo, Daniel
author_role author
author2 Recalde, Luis F.
Guevara, Bryan S.
Andaluz, Victor H.
Gandolfo, Daniel
author2_role author
author
author
author
dc.subject.none.fl_str_mv ROBOTIC SIMULATION
AERIAL ROBOTIC
OPEN SOURCE
CONTROL ALGORITHMS
topic ROBOTIC SIMULATION
AERIAL ROBOTIC
OPEN SOURCE
CONTROL ALGORITHMS
purl_subject.fl_str_mv https://purl.org/becyt/ford/2.2
https://purl.org/becyt/ford/2
dc.description.none.fl_txt_mv Recent technological advances have brought increased attention to aerial robotic manipulators(ARMs), particularly in applications that involve physical interactions using tools such as welding and drilling, as well as in the autonomous pickup and transport of objects. However, translating control algorithms into real-world applications for aerial robotic manipulators may prove hallenging, given the potential for accidents and the time-consuming nature of experiments; furthermore, the acquisition of aerial robotic manipulators could impose a substantial financial burden on universities, research centers, and companies. Therefore, this work addresses these issues by developing an open access platform to simulate aerial robotic manipulators and test control strategies. The presented simulator is based on the kinematics and dynamics of the Matrice-100 aerial platform equipped with a 3 DOF robotic arm, where the mathematical formulation was developed using the Euler-Lagrange formalism. In addition, optimization techniques were used to perform the parameter identification procedure, ensuring the development of an accurate model for the open-access platform. The simulator platform is built upon the integration of Python, the Robot Operating System (ROS), and Unity 3D. These components collaborate to describe and demonstrate the behavior of the aerial robotic manipulator during the test process of control system algorithms. Simple tests were conducted to validate the open-access simulator platform. The proposed approach ensures the evaluation, testing of control strategies, and the ability to conduct experiments before hardware implementations. Finally, the proposal was published as an open source platform available in the following Code.
Fil: Varela Aldás, José. Universidad Tecnológica Indoamérica; Ecuador
Fil: Recalde, Luis F.. Universidad Tecnológica Indoamérica; Ecuador
Fil: Guevara, Bryan S.. 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
Fil: Andaluz, Victor H.. Universidad de Las Fuerzas Armadas - Espe; Ecuador
Fil: Gandolfo, Daniel. 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
description Recent technological advances have brought increased attention to aerial robotic manipulators(ARMs), particularly in applications that involve physical interactions using tools such as welding and drilling, as well as in the autonomous pickup and transport of objects. However, translating control algorithms into real-world applications for aerial robotic manipulators may prove hallenging, given the potential for accidents and the time-consuming nature of experiments; furthermore, the acquisition of aerial robotic manipulators could impose a substantial financial burden on universities, research centers, and companies. Therefore, this work addresses these issues by developing an open access platform to simulate aerial robotic manipulators and test control strategies. The presented simulator is based on the kinematics and dynamics of the Matrice-100 aerial platform equipped with a 3 DOF robotic arm, where the mathematical formulation was developed using the Euler-Lagrange formalism. In addition, optimization techniques were used to perform the parameter identification procedure, ensuring the development of an accurate model for the open-access platform. The simulator platform is built upon the integration of Python, the Robot Operating System (ROS), and Unity 3D. These components collaborate to describe and demonstrate the behavior of the aerial robotic manipulator during the test process of control system algorithms. Simple tests were conducted to validate the open-access simulator platform. The proposed approach ensures the evaluation, testing of control strategies, and the ability to conduct experiments before hardware implementations. Finally, the proposal was published as an open source platform available in the following Code.
publishDate 2024
dc.date.none.fl_str_mv 2024-04
dc.type.none.fl_str_mv info:eu-repo/semantics/article
info:eu-repo/semantics/publishedVersion
http://purl.org/coar/resource_type/c_6501
info:ar-repo/semantics/articulo
format article
status_str publishedVersion
dc.identifier.none.fl_str_mv http://hdl.handle.net/11336/258440
Varela Aldás, José; Recalde, Luis F.; Guevara, Bryan S.; Andaluz, Victor H.; Gandolfo, Daniel; Open-Access Platform for the Simulation of Aerial Robotic Manipulators; Institute of Biomedical Engineering; IEEE Access; 12; 4-2024; 49735-49751
2169-3536
CONICET Digital
CONICET
url http://hdl.handle.net/11336/258440
identifier_str_mv Varela Aldás, José; Recalde, Luis F.; Guevara, Bryan S.; Andaluz, Victor H.; Gandolfo, Daniel; Open-Access Platform for the Simulation of Aerial Robotic Manipulators; Institute of Biomedical Engineering; IEEE Access; 12; 4-2024; 49735-49751
2169-3536
CONICET Digital
CONICET
dc.language.none.fl_str_mv eng
language eng
dc.relation.none.fl_str_mv info:eu-repo/semantics/altIdentifier/url/https://ieeexplore.ieee.org/document/10491265/
info:eu-repo/semantics/altIdentifier/doi/10.1109/ACCESS.2024.3384986
dc.rights.none.fl_str_mv info:eu-repo/semantics/openAccess
https://creativecommons.org/licenses/by-nc-sa/2.5/ar/
eu_rights_str_mv openAccess
rights_invalid_str_mv https://creativecommons.org/licenses/by-nc-sa/2.5/ar/
dc.format.none.fl_str_mv application/pdf
application/pdf
dc.publisher.none.fl_str_mv Institute of Biomedical Engineering
publisher.none.fl_str_mv Institute of Biomedical Engineering
dc.source.none.fl_str_mv reponame:CONICET Digital (CONICET)
instname:Consejo Nacional de Investigaciones Científicas y Técnicas
reponame_str CONICET Digital (CONICET)
collection CONICET Digital (CONICET)
instname_str Consejo Nacional de Investigaciones Científicas y Técnicas
repository.name.fl_str_mv CONICET Digital (CONICET) - Consejo Nacional de Investigaciones Científicas y Técnicas
repository.mail.fl_str_mv dasensio@conicet.gov.ar; lcarlino@conicet.gov.ar
_version_ 1842269750102589440
score 12.885934

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