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How to Shake Trees With Aerial Manipulators? A Theoretical and Experimental Study

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Názov: How to Shake Trees With Aerial Manipulators? A Theoretical and Experimental Study
Autori: González-Morgado, Antonio, Cuniato, Eugenio, Heredia, Guillermo, Ollero, Aníbal, Siegwart, Roland, Tognon, Marco
Prispievatelia: Tognon, Marco
Zdroj: IEEE Robotics and Automation Letters. 10:8067-8074
Informácie o vydavateľovi: Institute of Electrical and Electronics Engineers (IEEE), 2025.
Rok vydania: 2025
Predmety: Controlled Shaking, Force Control, [INFO.INFO-RB] Computer Science [cs]/Robotics [cs.RO], [SDV.SA.STA] Life Sciences [q-bio]/Agricultural sciences/Sciences and technics of agriculture, [SDE.IE] Environmental Sciences/Environmental Engineering, Aerial Manipulators, Aerial Systems: Mechanics and Control
Popis: Aerial manipulators are advancing beyond traditional inspection roles to enable complex interactions with flexible structures. Applications such as structural health monitoring, and especially agricultural tasks like fruit harvesting or environmental monitoring, require inducing controlled vibrations into flexible elements. However, current solutions for controlled shaking of trees with aerial manipulators are limited to push and pull forces applied through translational movements, without exploiting the fully-capabilities of aerial platforms. This paper introduces a controlled shaking strategy that enables interaction with trees using both linear movements generated by forces (translation strategy) and rotational movements generated by torques (rotation strategy) thus exploiting the different interaction capabilities of the platform. These two strategies open a previously unexplored question: which strategy is more effective given a specific interaction point? To address this, the two interaction strategies are integrated with the Rayligh-Ritz model of the tree, obtaining the closed-loop dynamics of the system during the vibration. These closed-loop dynamics are then analyzed for the two shaking strategies, deriving which one is better for achieving higher oscillation amplitudes or frequencies. This analysis shows that, for a given interaction point of the tree trunk, this decision depends only on the platform's physical characteristics, such as mass and inertia. Finally, the theoretical analysis is experimentally validated with a hand-made bamboo tree and a fully-actuated platform through indoors flights.
Druh dokumentu: Article
Popis súboru: application/pdf
ISSN: 2377-3774
DOI: 10.1109/lra.2025.3583603
Rights: CC BY
Prístupové číslo: edsair.doi.dedup.....f5f9de48679372147a2d8b1d39c80936
Databáza: OpenAIRE
Popis
Abstrakt:Aerial manipulators are advancing beyond traditional inspection roles to enable complex interactions with flexible structures. Applications such as structural health monitoring, and especially agricultural tasks like fruit harvesting or environmental monitoring, require inducing controlled vibrations into flexible elements. However, current solutions for controlled shaking of trees with aerial manipulators are limited to push and pull forces applied through translational movements, without exploiting the fully-capabilities of aerial platforms. This paper introduces a controlled shaking strategy that enables interaction with trees using both linear movements generated by forces (translation strategy) and rotational movements generated by torques (rotation strategy) thus exploiting the different interaction capabilities of the platform. These two strategies open a previously unexplored question: which strategy is more effective given a specific interaction point? To address this, the two interaction strategies are integrated with the Rayligh-Ritz model of the tree, obtaining the closed-loop dynamics of the system during the vibration. These closed-loop dynamics are then analyzed for the two shaking strategies, deriving which one is better for achieving higher oscillation amplitudes or frequencies. This analysis shows that, for a given interaction point of the tree trunk, this decision depends only on the platform's physical characteristics, such as mass and inertia. Finally, the theoretical analysis is experimentally validated with a hand-made bamboo tree and a fully-actuated platform through indoors flights.
ISSN:23773774
DOI:10.1109/lra.2025.3583603