Omnidirectional Tilt-Rotor Flying Robots for Aerial Physical Interaction: Modelling, Control, Design and Experiments (Springer Tracts in Advanced Robotics, 157)

Foreword
Preface
	Acknowledgements
	Financial Support
Contents
Abbreviations
1 Introduction
	1.1 State-of-the-Art
		1.1.1 Fully Actuated and Omnidirectional MAVs
		1.1.2 Aerial Physical Interaction
		1.1.3 Macro-Micro Aerial Manipulation
		1.1.4 Contributions
	1.2 Chapter Overview
	References
2 Problem Definition
	2.1 Notation
	2.2 Aerial Physical Interaction Tasks
	2.3 Properties of Aerial Manipulation Systems
	2.4 Actuation Capabilities of a Flying Base
	2.5 Manipulators
	2.6 Objectives for Developing Robotics for Aerial Physical Interaction
	References
3 Modelling
	3.1 Aerodynamic Actuation Model
		3.1.1 Kinematic Description
		3.1.2 Propeller Wrench Model
		3.1.3 Double Propeller Group
		3.1.4 Net Aerodynamic Actuation Wrench
		3.1.5 Tilting Joint Model
		3.1.6 Force and Torque Actuation Volumes
		3.1.7 Singularity Conditions
	3.2 Omnidirectional Tilt-Rotor Model
		3.2.1 Single Body Dynamic Model
		3.2.2 Multi-body Dynamic Model
		3.2.3 Morphology Optimization
	3.3 Aerial Interaction Model
	3.4 Aerial Parallel Manipulator
		3.4.1 Delta Kinematic Description
		3.4.2 Delta Geometry Optimization
		3.4.3 Aerial Parallel Manipulator Dynamics
	References
4 Control
	4.1 Control of an Omnidirectional Flying Base on SE(3)
		4.1.1 Controller Structures
		4.1.2 Base Wrench Controller
		4.1.3 Instantaneous Actuator Allocation
		4.1.4 Differential Actuator Allocation
		4.1.5 Rotor Force Mapping
	4.2 Interaction Control
		4.2.1 External Wrench Estimation
		4.2.2 Impedance Control
		4.2.3 Hybrid Force-Impedance Interaction Control
	4.3 Macro-Micro Control for Redundant Aerial Manipulators
		4.3.1 Delta Manipulator Control
		4.3.2 Feed Forward Dynamics
	References
5 Prototype Design
	5.1 Mechanical Design
		5.1.1 Rotor Groups
		5.1.2 Tilt-Rotor Mechanics
		5.1.3 System Core
		5.1.4 Fixed Manipulator
		5.1.5 Delta Parallel Manipulator
	5.2 Electronics
		5.2.1 Power Distribution
		5.2.2 Communication
	5.3 Overview of Prototypes
	References
6 Experimental Results
	6.1 Experimental Setup
		6.1.1 Test Environment
		6.1.2 State Estimation
		6.1.3 Trajectory Generation
	6.2 Omnidirectional Flying Base
		6.2.1 Omnidirectional Trajectory Tracking
		6.2.2 Singularity Robustness and Secondary Tasks
		6.2.3 Efficiency Evaluation
	6.3 Omnidirectional Aerial Physical Interaction
		6.3.1 Contact Wrench
		6.3.2 Disturbance Rejection
		6.3.3 Force Tracking Accuracy
		6.3.4 Push-and-Slide Aerial Drawing
		6.3.5 Interaction with Inclined Surfaces
		6.3.6 Application: Contact Inspection of Reinforced Concrete
	6.4 Macro-Micro Aerial Parallel Manipulator
		6.4.1 Parallel Manipulator
		6.4.2 Disturbance Compensation
		6.4.3 Fast End Effector Trajectory Tracking
	References
7 Conclusions
	7.1 Conclusions
	7.2 Future Work
		7.2.1 Technological Readiness of Aerial Manipulators
	References
Appendix  Appendix
A.1 Kinematics
A.1.1 Rigid Body Transformations
A.1.2 Kinematic Model
A.2 Dynamics
A.2.1 Lagrange Formalism
A.2.2 Newton–Euler Formalism
	References