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Aerial Manipulator Robot Trajectory Tracking for Rhythmic Entertainment Applications

Abstract:

This paper introduces a decoupled control scheme for an aerial manipulator, which consists of an unmanned aerial vehicle (UAV) and two four-degree-of-freedom anthropomorphic robotic arms. Each component of the system has independent control, allowing specific tasks for the UAV and for the robotic arms. Because these elements are physically connected, the desired trajectories of the drone infer the desired movement of the arms, although each retains its functional independence. To validate the control scheme, simulations were carried out to explore the behavior of the system when different trajectories are implemented for the UAV and the arms. The simulations were performed using animations to visualize the movement of the robots in the workspace. The controller adjusts according to the tempo and rhythm of a predetermined audio signal, allowing the speed of movement of the UAV and robotic arms to be modified to maintain consistency with the musical beat. The analysis of these simulations shows that, despite the interaction between the UAV trajectories and the arms, the decoupled control allows for optimal performance with regard to the accomplishment of specific tasks for each robot. The results indicate that the system can perform complex tasks in a structured aerial environment and suggest that the approach may be suitable for applications where the use of independent tasks is necessary, considering precise coordination between different robotic components foreseen in the movement of the arms and the UAV.