Dexterous Aerial Robots—Mobile Manipulation Using Unmanned Aerial Systems
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Authors
Orsag, Matko
Korpela, Christopher M.
Bogdan, Stjepan
Oh, Paul
Issue Date
2017-12
Type
journal-article
Language
Keywords
Manipulators , Unmanned Aerial Vehicle , Mathematical model , Benchmark testing , Position control , Target tracking
Alternative Title
Abstract
In this paper, we present selected benchmark aerial manipulation tasks using an aerial vehicle endowed with multi-degree of freedom manipulators. The proposed tasks analyze environmental coupling and are broken into three general categories: momentary, loose, and strong coupling. A classical control structure is derived, tuned, and verified through experiments, conducted for benchmarking purposes to include pick-and-place, insertion, and valve-turning tasks. Although other nonlinear controllers may prove more effective, the classical control approach has been selected in order to analyze contact stability and provide benchmark results for future reference. An analysis of system stability is conducted and implemented into the controller. A vision-based high-level controller fuses motion tracking data in order to provide control of both the aircraft and the manipulators, allowing the system to become coupled to the environment and perform the required operation. We present recent results validating our framework using the proposed aircraft-arm system.
Description
Citation
M. Orsag, C. Korpela, S. Bogdan and P. Oh, "Dexterous Aerial Robots—Mobile Manipulation Using Unmanned Aerial Systems," in IEEE Transactions on Robotics, vol. 33, no. 6, pp. 1453-1466, Dec. 2017, doi: 10.1109/TRO.2017.2750693.
Publisher
Institute of Electrical and Electronics Engineers (IEEE)
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Journal
Volume
Issue
PubMed ID
ISSN
1552-3098
1941-0468
1941-0468