Insertion tasks using an aerial manipulator

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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.
Joints, Manipulator dynamics, Vehicle dynamics, Vehicles, Aircraft, Dynamics
C. Korpela, M. Orsag, T. Danko and P. Oh, "Insertion tasks using an aerial manipulator," 2014 IEEE International Conference on Technologies for Practical Robot Applications (TePRA), Woburn, MA, USA, 2014, pp. 1-6, doi: 10.1109/TePRA.2014.6869148.