Task priority control for aerial manipulation

descriptionPublicationkeyboard_double_arrow_right Article , Conference object 01 Oct 2014 Spain, Italy Publisher:IEEEJournal:2014 IEEE International Symposium on Safety, Security, and Rescue Robotics (2014)Funded by:EC | ARCAS

Authors: Angel Santamaria-Navarro; Vincenzo Lippiello; Juan Andrade-Cetto;

doi: 10.1109/ssrr.2014.7017672

handle: 10261/127555 , 2117/26274 , 11588/613501

Task priority control for aerial manipulation

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Abstract

This paper presents a task oriented control strategy for aerial vehicles equipped with a manipulator. A camera is attached to the end-effector of the manipulator to perform a primary task consisting on visual servoing towards a desired target. Over-actuation of the whole quadrotor-arm system is exploited to achieve secondary velocity tasks. One subtask is proposed to horizontally stabilize the platform during flight by aligning the arm center of gravity with the quadrotor gravitational vector. The arm singularities and manipulability are addressed by another subtask that leads the arm to a preferable configuration, and also takes into account the arm joint limits. The performance of the whole visual servo and secondary tasks control scheme is shown in a Robot Operating System (ROS) implementation.

Trabajo presentado al IEEE International Symposium on Safety, Security and Rescue Robotics (SSRR) celebrado en Hokkaido (Japón) del 27 al 30 de octubre de 2014.

This work has been partially funded by the EU project ARCAS FP7-ICT-287617.

Peer Reviewed

Countries

Spain, Italy

Related Organizations

Spanish National Research Council
Spain
Institute of Robotics and Industrial Informatics
Spain
Universitat Polite`cnica de Catalunya
Spain
Universitat Politècnica de Catalunya
Spain
University Federico II of Naples
Italy

Keywords

Àrees temàtiques de la UPC::Informàtica::Robòtica, :Automation::Robots::Robot kinematics [Classificació INSPEC], task priority control, robot vision, Classificació INSPEC::Control theory, robot kinematics, aerospace robotics, Classificació INSPEC::Automation::Robots::Robot kinematics, :Control theory [Classificació INSPEC], :Informàtica::Robòtica [Àrees temàtiques de la UPC], manipulators

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