Pregled bibliografske jedinice broj: 1116997
Exploiting Null Space in Aerial Manipulation through Model-In-The-Loop Motion Planning
Exploiting Null Space in Aerial Manipulation through Model-In-The-Loop Motion Planning // 2020 International Conference on Unmanned Aircraft Systems (ICUAS 2020)
Atena, Grčka: Institute of Electrical and Electronics Engineers (IEEE), 2020. str. 686-693 doi:10.1109/icuas48674.2020.9213914 (predavanje, međunarodna recenzija, sažetak, znanstveni)
CROSBI ID: 1116997 Za ispravke kontaktirajte CROSBI podršku putem web obrasca
Naslov
Exploiting Null Space in Aerial Manipulation
through Model-In-The-Loop Motion Planning
Autori
Ivanovic, Antun ; Car, Marko ; Orsag, Matko ; Bogdan, Stjepan
Vrsta, podvrsta i kategorija rada
Sažeci sa skupova, sažetak, znanstveni
Skup
2020 International Conference on Unmanned Aircraft Systems (ICUAS 2020)
Mjesto i datum
Atena, Grčka, 01.09.2020. - 04.09.2020
Vrsta sudjelovanja
Predavanje
Vrsta recenzije
Međunarodna recenzija
Ključne riječi
bespilotna letjelica ; trajektorija
(uav ; trajectory planning ; model in the loop)
Sažetak
This paper presents a method for aerial manipulator end-effector trajectory tracking by encompassing dynamics of the Unmanned Aerial Vehicle (UAV) and null space of the manipulator attached to it in the motion planning procedure. The proposed method runs in phases. Trajectory planning starts by not accounting for roll and pitch angles of the underactuated UAV system. Next, we propose simulating the dynamics on such a trajectory and obtaining UAV attitude through the model. The full aerial manipulator state obtained in such a manner is further utilized to account for discrepancies in planned and simulated end-effector states. Finally, the end-effector pose is corrected through the null space of the manipulator to match the desired end-effector pose obtained in trajectory planning. Furthermore, we have applied the TOPP-RA approach on the UAV by invoking the differential flatness principle. Finally, we conducted experimental tests to verify effectiveness of the planning framework.
Izvorni jezik
Engleski
Znanstvena područja
Elektrotehnika
POVEZANOST RADA
Ustanove:
Fakultet elektrotehnike i računarstva, Zagreb
