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Task priority control for aerial manipulation

Autor
Santamaria, A.; Lippiello, V.; Andrade-Cetto, J.
Tipus d'activitat
Presentació treball a congrés
Nom de l'edició
2014 IEEE International Symposium on Safety, Security and Rescue Robotics
Any de l'edició
2014
Data de presentació
2014
Llibre d'actes
The Proceedings of the 2014 IEEE International Symposium on Safety, Security and Rescue Robotics
Pàgina inicial
1
Pàgina final
6
DOI
https://doi.org/10.1109/SSRR.2014.7017672 Obrir en finestra nova
Projecte finançador
FP7-ICT- 287617 Aerial Robotics Cooperative Assembly System
Repositori
http://hdl.handle.net/2117/26274 Obrir en finestra nova
URL
http://dx.doi.org/10.1109/SSRR.2014.7017672 Obrir en finestra nova
Resum
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. T...
Citació
Santamaria, A.; Lippiello, V.; Andrade-Cetto, J. Task priority control for aerial manipulation. A: IEEE International Symposium on Safety, Security and Rescue Robotics. "The Proceedings of the 2014 IEEE International Symposium on Safety, Security and Rescue Robotics". Hokkaido: 2014, p. 1-6.
Paraules clau
Aerospace Robotics, Manipulators, Robot Kinematics, Robot Vision. Author Keywords: Task Priority Control
Grup de recerca
VIS - Visió Artificial i Sistemes Intel.ligents

Participants