Insertion Tasks using an Aerial Manipulator

被引:0
|
作者
Korpela, Christopher [1 ]
Orsag, Matko [2 ]
Danko, Todd [1 ]
Oh, Paul [1 ]
机构
[1] Drexel Univ, Drexel Autonomous Syst Lab, Philadelphia, PA 19104 USA
[2] Univ Zagreb, Fac Elect Engn & Comp, Zagreb 10000, Croatia
关键词
QUADROTOR;
D O I
暂无
中图分类号
TM [电工技术]; TN [电子技术、通信技术];
学科分类号
0808 ; 0809 ;
摘要
This paper demonstrates insertion tasks using an aerial vehicle affixed with a multi-degree of freedom manipulator. Using a combined strategy of visual servoing and force feedback compliance, the aerial manipulator achieves peg-in-hole insertion while attached to a validation test rig. A strongly coupled control scheme between the aircraft and manipulator is mandated for tasks requiring millimeter accuracy. Visual servoing is well-established for both ground and aerial vehicles and facilitates the large aircraft-arm motions. Force feedback upon contact with the environment provides compliant insertion and smaller motions in the presence of position error. We present recent results demonstrating and validating peg-in-hole insertion using the proposed aircraft-arm model and system.
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收藏
页数:6
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