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Task priority control for aerial manipulation

AutorSantamaria-Navarro, Àngel; Lippiello, Vincenzo; Andrade-Cetto, Juan
Fecha de publicación2014
EditorInstitute of Electrical and Electronics Engineers
CitaciónIEEE International Symposium on Safety, Security, and Rescue Robotics: 1-6 (2014)
ResumenThis 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.
DescripciónTrabajo presentado al IEEE International Symposium on Safety, Security and Rescue Robotics (SSRR) celebrado en Hokkaido (Japón) del 27 al 30 de octubre de 2014.
Versión del editorhttp://dx.doi.org/10.1109/SSRR.2014.7017672
URIhttp://hdl.handle.net/10261/127555
DOI10.1109/SSRR.2014.7017672
Identificadoresdoi: 10.1109/SSRR.2014.7017672
Aparece en las colecciones: (IRII) Comunicaciones congresos
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