Naslov
Towards the Realization of Mobile Manipulating Unmanned Aerial Vehicles (MM-UAV): Peg-in-hole Insertion Tasks

Autori
Korpela, Christopher ; Orsag, Matko ; Brahmbhatt, Paresh ; Oh, Paul

Vrsta, podvrsta i kategorija rada
Radovi u zbornicima skupova, cjeloviti rad (in extenso), znanstveni

Izvornik
Proc. of International Conference on Technologies for Practical Robot Applications (TePRA) / - , 2013

Skup
International Conference on Technologies for Practical Robot Applications (TePRA)

Mjesto i datum
Boston (MA), Sjedinjene Američke Države, 04.2013

Vrsta sudjelovanja
Predavanje

Vrsta recenzije
Međunarodna recenzija

Ključne riječi
UAV; Mobile manipulation; aerial manipulation

Sažetak
This paper proposes a solution to the peg-in-hole problem from an aerial vehicle. While the ground robotics community has mostly solved insertion- style tasks, an air vehicle attempting the same task faces significantly greater challenges. Thus, aerial manipulation mandates a strongly coupled aircraft arm control scheme to tackle the peg-in- hole problem. Manipulator compliance along with fast inverse kinematics calculations facilitate task completion during hover. We present recent results showing the ability of a simulated dexterous aerial manipulator performing a hose into pump insertion. Kinematic and dynamic modeling of the aircraft-manipulator system are developed. Simulation results validate our system model by generating a kinematic solution and arm trajectory.

Izvorni jezik
Engleski

Znanstvena područja
Elektrotehnika

POVEZANOST RADA