2024-03-28T12:43:34Zhttp://digital.csic.es/dspace-oai/requestoai:digital.csic.es:10261/1275552019-05-31T07:38:45Zcom_10261_106com_10261_4col_10261_485
Task priority control for aerial manipulation
Santamaria-Navarro, Àngel
Lippiello, Vincenzo
Andrade-Cetto, Juan
European Commission
Trabajo presentado al IEEE International Symposium on Safety, Security and Rescue Robotics (SSRR) celebrado en Hokkaido (Japón) del 27 al 30 de octubre de 2014.
This paper presents a task oriented control strategy for aerial vehicles equipped with a manipulator. A camera is attached to the end-effector of the manipulator to perform a primary task consisting on visual servoing towards a desired target. Over-actuation of the whole quadrotor-arm system is exploited to achieve secondary velocity tasks. One subtask is proposed to horizontally stabilize the platform during flight by aligning the arm center of gravity with the quadrotor gravitational vector. The arm singularities and manipulability are addressed by another subtask that leads the arm to a preferable configuration, and also takes into account the arm joint limits. The performance of the whole visual servo and secondary tasks control scheme is shown in a Robot Operating System (ROS) implementation.
2016-01-13T11:23:58Z
2016-01-13T11:23:58Z
2014
2016-01-13T11:23:59Z
comunicación de congreso
IEEE International Symposium on Safety, Security, and Rescue Robotics: 1-6 (2014)
http://hdl.handle.net/10261/127555
10.1109/SSRR.2014.7017672
http://dx.doi.org/10.13039/501100000780
eng
Postprint
http://dx.doi.org/10.1109/SSRR.2014.7017672
Sí
info:eu-repo/grantAgreement/EC/FP7/287617
openAccess
Institute of Electrical and Electronics Engineers