Modeling and Control of Aerial Manipulation Vehicle with Visual Sensor
نویسندگان
چکیده
Modeling and control of a Quadrotor with robotic arm which uses vision sensor is discussed. A quadrotor model coupled with a two link manipulator is first developed and then the integrated control mechanism is investigated. An Image Based Visual Servo system is introduced and then used with the aerial manipulator to successfully perform specific tasks of positioning and stabilization during manipulation.
منابع مشابه
Quadrotor UAV Guidence For Ground Moving Target Tracking
The studies in aerial vehicles modeling and control have been increased rapidly recently. In this paper , a coordination of two types of heterogeneous robots , namely unmanned aerial vehicle (UAV) and unmanned ground vehicle (UGV) is considered. In this paper the UAV plays the role of a virtual leader for the UGVs. The system consists of a vision- based target detection algorithm that uses the ...
متن کاملNonlinear Trajectory Control of Multi-body Aerial Manipulators
This paper studies trajectory control of aerial vehicles equipped with robotic manipulators. The proposed approach employs free-flying multi-body dynamics modeling and backstepping control to develop stabilizing control laws for a class of underactuated aerial systems. Two control methods are developed: coordinate-based and coordinate-free which are both generally applicable to aerial manipulat...
متن کاملOutput feedback image-based visual servoing control of an underactuated unmanned aerial vehicle
In this article, image-based visual servoing control of an underactuated unmanned aerial vehicle is considered for the three-dimensional translational motion. Taking into account the low quality of accelerometers’ data, the main objective of this article is to only use information of rate gyroscopes and a camera, as the sensor suite, in order to design an image-based visual servoing controller....
متن کاملExtracting Objects for Aerial Manipulation on UAVs Using Low Cost Stereo Sensors
Giving unmanned aerial vehicles (UAVs) the possibility to manipulate objects vastly extends the range of possible applications. This applies to rotary wing UAVs in particular, where their capability of hovering enables a suitable position for in-flight manipulation. Their manipulation skills must be suitable for primarily natural, partially known environments, where UAVs mostly operate. We have...
متن کاملDesign, Modeling and Dynamic Compensation PID Control of a Fully-Actuated Aerial Manipulation System
This paper addresses design, modeling and dynamic-compensation PID (dc-PID) control of a novel type of fully-actuated aerial manipulation (AM) system. Firstly, design of novel mechanical structure of the AM is presented. Secondly, kinematics and dynamics of AM are modeled using Craig parameters and recursion Newton-Euler equations respectively, which give rise to a more accurate dynamic relatio...
متن کامل