2018 IEEE International Conference on Mechatronics and Automation (ICMA), 2018
Using teleoperation process to drive the quadrotor Manipulation System to pick and place the obje... more Using teleoperation process to drive the quadrotor Manipulation System to pick and place the object in a critical application is very difficult and slow process because of human capabilities so that one of the possible solutions to overcome this problem is to use vision-based control to automatically pick and place the object. In this paper we presented the vision-based control of a quadrotor manipulation system (QMS) that consists of 2-serial link robotic arm attached to the bottom of a quadrotor and a camera attached to end-effector which acts as a vision sensor to form eye-in-hand architecture. Image-Based Visual Servoing (IBVS) is used to produce a desired task space trajectory to the inverse kinematics model that generates a desired quadrotor/joint space trajectory for PD-controller to automatically pick and place the object. The proposed system uses 6 actuators only to perform the required 6-DOF trajectory. This minimum number of actuators is useful to facilitate carrying high...
A hybrid ground aerial robot (HGAR) has been developed to combine both capabilities of aerial rob... more A hybrid ground aerial robot (HGAR) has been developed to combine both capabilities of aerial robots and ground mobile robots to overcome the limitations of each single type. This research introduces a new securing mechanism and improves also the propeller-thruster transformation mechanism for the HGAR. The securing mechanism is designed to be light and to give high stability, and low power consumption for both flying and ground motion modes. In the developed transformation mechanism, the robot uses the propellers which are already installed for the aerial mission as actuators to transform between the flight and ground-motion configurations. In contrast to the previous design, no need here to additional position controller to avoid propellers’ collision or springs to start the switch to the ground configuration. The propellers are controlled by the Feedback-Linearization which is combined with Robust-Internal Compensator to achieve the controller robustness. The HGAR is virtually bu...
2015 IEEE Advanced Information Technology, Electronic and Automation Control Conference (IAEAC), 2015
This paper presents the design and implementation of the control system for the transformation/ma... more This paper presents the design and implementation of the control system for the transformation/manipulation system that is used in a new Hybrid Ground Aerial Robot (HGAR). The transformation mechanism is used to transform the robot from flying configuration to ground motion configuration and vice versa. The manipulator is attached to one of the four propeller arms to manipulate objects during ground motion. The controller is designed based on feedback linearization method. A simple algorithm is implemented on Arduino board for controlling the angle of the propeller arm with and without manipulator. The angle of the arm is controlled by propeller thrust. The angle of the arm is measured by inertial measurement unit (IMU). The manipulator is controlled by servomotors. The configuration of the manipulator is determined using the joint-angles data and fed to the propeller arm controller to estimate the compensated term. In addition, an integral term is added to the controller to introduce robustness against payload variation and parameters uncertainty. Experimental set up is built to apply the proposed controller on the system and test its accuracy. Finally, the experimental results showed the effectiveness and accuracy of the proposed controller.
2018 IEEE International Conference on Industrial Technology (ICIT), 2018
The idea of a novel Hybrid Ground Aerial robot (HGAR) which combines flying capability and ground... more The idea of a novel Hybrid Ground Aerial robot (HGAR) which combines flying capability and ground motion capability in one robot is briefly described. The HGAR has two independent configurations, flying configuration and ground motion configuration. In the previous studies, the eccentric manipulator that is attached to one propeller arm is used to manipulate objects during ground motion only. Here, we aim to use it to manipulate objects during flying as well. The eccentric location of the manipulator adds difficulties to the control tasks which is not investigated before. The manipulator consists of three links and a gripper. The motion of the manipulator induces moments and forces on the HGAR flying platform which are handled as disturbances in the proposed control algorithm. The system modeling and stabilization of the flying platform under such manipulation disturbances are the aims of this work. Kinematic and dynamic analysis have been established during flying. The flying system controller is designed based on Robust Internal compensator (RIC) method which is tested to track trajectory and provide stability under manipulation disturbances. Finally, simulation results demonstrate the effectiveness of RIC controller to achieve excellent tracking performance and stabilize the HGAR during the manipulator movements.
2018 IEEE International Conference on Mechatronics and Automation (ICMA), 2018
Using teleoperation process to drive the quadrotor Manipulation System to pick and place the obje... more Using teleoperation process to drive the quadrotor Manipulation System to pick and place the object in a critical application is very difficult and slow process because of human capabilities so that one of the possible solutions to overcome this problem is to use vision-based control to automatically pick and place the object. In this paper we presented the vision-based control of a quadrotor manipulation system (QMS) that consists of 2-serial link robotic arm attached to the bottom of a quadrotor and a camera attached to end-effector which acts as a vision sensor to form eye-in-hand architecture. Image-Based Visual Servoing (IBVS) is used to produce a desired task space trajectory to the inverse kinematics model that generates a desired quadrotor/joint space trajectory for PD-controller to automatically pick and place the object. The proposed system uses 6 actuators only to perform the required 6-DOF trajectory. This minimum number of actuators is useful to facilitate carrying high...
A hybrid ground aerial robot (HGAR) has been developed to combine both capabilities of aerial rob... more A hybrid ground aerial robot (HGAR) has been developed to combine both capabilities of aerial robots and ground mobile robots to overcome the limitations of each single type. This research introduces a new securing mechanism and improves also the propeller-thruster transformation mechanism for the HGAR. The securing mechanism is designed to be light and to give high stability, and low power consumption for both flying and ground motion modes. In the developed transformation mechanism, the robot uses the propellers which are already installed for the aerial mission as actuators to transform between the flight and ground-motion configurations. In contrast to the previous design, no need here to additional position controller to avoid propellers’ collision or springs to start the switch to the ground configuration. The propellers are controlled by the Feedback-Linearization which is combined with Robust-Internal Compensator to achieve the controller robustness. The HGAR is virtually bu...
2015 IEEE Advanced Information Technology, Electronic and Automation Control Conference (IAEAC), 2015
This paper presents the design and implementation of the control system for the transformation/ma... more This paper presents the design and implementation of the control system for the transformation/manipulation system that is used in a new Hybrid Ground Aerial Robot (HGAR). The transformation mechanism is used to transform the robot from flying configuration to ground motion configuration and vice versa. The manipulator is attached to one of the four propeller arms to manipulate objects during ground motion. The controller is designed based on feedback linearization method. A simple algorithm is implemented on Arduino board for controlling the angle of the propeller arm with and without manipulator. The angle of the arm is controlled by propeller thrust. The angle of the arm is measured by inertial measurement unit (IMU). The manipulator is controlled by servomotors. The configuration of the manipulator is determined using the joint-angles data and fed to the propeller arm controller to estimate the compensated term. In addition, an integral term is added to the controller to introduce robustness against payload variation and parameters uncertainty. Experimental set up is built to apply the proposed controller on the system and test its accuracy. Finally, the experimental results showed the effectiveness and accuracy of the proposed controller.
2018 IEEE International Conference on Industrial Technology (ICIT), 2018
The idea of a novel Hybrid Ground Aerial robot (HGAR) which combines flying capability and ground... more The idea of a novel Hybrid Ground Aerial robot (HGAR) which combines flying capability and ground motion capability in one robot is briefly described. The HGAR has two independent configurations, flying configuration and ground motion configuration. In the previous studies, the eccentric manipulator that is attached to one propeller arm is used to manipulate objects during ground motion only. Here, we aim to use it to manipulate objects during flying as well. The eccentric location of the manipulator adds difficulties to the control tasks which is not investigated before. The manipulator consists of three links and a gripper. The motion of the manipulator induces moments and forces on the HGAR flying platform which are handled as disturbances in the proposed control algorithm. The system modeling and stabilization of the flying platform under such manipulation disturbances are the aims of this work. Kinematic and dynamic analysis have been established during flying. The flying system controller is designed based on Robust Internal compensator (RIC) method which is tested to track trajectory and provide stability under manipulation disturbances. Finally, simulation results demonstrate the effectiveness of RIC controller to achieve excellent tracking performance and stabilize the HGAR during the manipulator movements.
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Papers by Maha Salman