Image‐Based Control for Aerial Manipulation

Rafik Mebarki; Vincenzo Lippiello

doi:10.1002/asjc.887

journal article May 01, 2014

Image‐Based Control for Aerial Manipulation

Rafik Mebarki Vincenzo Lippiello

Asian Journal of Control Vol. 16 No. 3 pp. 646-656 · Wiley

View at Publisher Save 10.1002/asjc.887

Abstract

AbstractThis paper presents a new image‐based servo control scheme that endows an unmanned aerial vehicle (UAV) equipped with a robotic arm with the capability of automatically positioning elements on target objects. Through a new formalism, the proposed visual servo scheme controls both theUAVand the manipulator simultaneously. It takes into account the whole system redundancy as well as the peculiarity of under‐actuation related to rotary‐wing crafts. While it controls the system at the velocity level, it makes use of the mobility afforded by theUAVand the dexterity inherent to robot manipulators. The case of large initial errors is explicitly addressed. Results of simulations are reported to verify the effectiveness of the proposed approach.

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Metrics

31

Citations

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References

Details

Published: May 01, 2014
Vol/Issue: 16(3)
Pages: 646-656
License: View

Authors

Cite This Article

Rafik Mebarki, Vincenzo Lippiello (2014). Image‐Based Control for Aerial Manipulation. Asian Journal of Control, 16(3), 646-656. https://doi.org/10.1002/asjc.887

Image‐Based Control for Aerial Manipulation

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