Aerial Manipulator Control Method Based on Generalized Jacobian

被引：4

作者：

Ikeda, Takahiro ^{[1
]}

Ohara, Kenichi ^{[2
]}

Ichikawa, Akihiko ^{[2
]}

Ashizawa, Satoshi ^{[2
]}

Oomichi, Takeo ^{[2
]}

Fukuda, Toshio ^{[2
]}

机构：

[1] Gifu Univ, 1-1 Yanagido, Gifu 5011193, Japan

[2] Meijo Univ, Tempaku Ku, 501-1 Shiogamaguchi, Nagoya, Aichi 4688502, Japan

来源：

JOURNAL OF ROBOTICS AND MECHATRONICS | 2021年 / 33卷 / 02期

关键词：

unmanned aerial vehicle (UAV); generalized Jacobian; bridge inspection; visual inspection; BRIDGE INSPECTION; UAV;

D O I：

10.20965/jrm.2021.p0231

中图分类号：

TP24 [机器人技术];

学科分类号：

080202 ; 1405 ;

摘要：

This paper describes a control method for an aerial manipulator on an unmanned aerial vehicle (UAV) by using a generalized Jacobian (GJ). Our task is to realize visual check of bridge inspection by employing a UAV with a multi-degree-of-freedom (DoF) manipulator on its top. The manipulator is controlled by using the GJ. Subsequently, by comparing the aerial manipulator control with a conventional Jacobian experimentally, we discovered that the accuracy of the control improved by applying the GJ. The manipulator has three DoFs in the X-Z plane of the UAV coordinate system. The experiment shows that the manipulator controlled with the GJ can compensate for the pose error of the body by 54.5% and 47.7% in the X and Z-axes, respectively.

引用

页码：231 / 241

页数：11

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