Naslov
Insertion Tasks using an Aerial Manipulator

Autori
Korpela, Christopher ; Orsag, Matko ; Danko, Todd ; Oh, Paul

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

Izvornik
2014 IEEE International Conference on Technologies for Practical Robot Applications (TePRA / - , 2014, 1-6

Skup
2014 IEEE International Conference on Technologies for Practical Robot Applications (TePRA

Mjesto i datum
Woburn (MA), Sjedinjene Američke Države, 14.04.2014. - 15.04.2014

Vrsta sudjelovanja
Predavanje

Vrsta recenzije
Međunarodna recenzija

Ključne riječi
Stability; Aerial manipulation; UAV

Sažetak
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.

Izvorni jezik
Engleski

Znanstvena područja
Elektrotehnika

POVEZANOST RADA