| Grasp a Moving Target from the Air: System & Control of an Aerial Manipulator | |
Zhang GY(张广玉)1,2 ; He YQ(何玉庆)1; Dai B(代波)1,2; Gu F(谷丰)1; Yang LY(杨丽英)1; Han JD(韩建达1; Liu GJ(刘光军)3; Qi JT(齐俊桐)4
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| Department | 机器人学研究室 |
| Conference Name | IEEE International Conference on Robotics and Automation (ICRA) |
| Conference Date | May 21-25, 2018 |
| Conference Place | Brisbane, AUSTRALIA |
| Author of Source | IEEE, CSIRO, Australian Govt, Dept Def Sci & Technol, DJI, Queensland Univ Technol, Woodside, Baidu, Bosch, Houston Mechatron, Kinova Robot, KUKA, Hit Robot Grp, Honda Res Inst, iRobot, Mathworks, NuTonomy, Ouster, Uber |
| Source Publication | 2018 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA) |
| Publisher | IEEE Computer Society |
| Publication Place | LOS ALAMITOS, CA |
| 2018 | |
| Pages | 1681-1687 |
| Indexed By | EI ; CPCI（ISTP） |
| EI Accession number | 20191206670693 |
| WOS ID | WOS:000446394501045 |
| Contribution Rank | 1 |
| ISSN | 1050-4729 |
| ISBN | 978-1-5386-3081-5 |
| Abstract | Grasping a moving target has been investigated extensively for fixed-base manipulator. However, such a task becomes much more challenging when the manipulator is free flying in the air with an UAV. Towards moving target grasping, this paper presents an aerial manipulator system composed of a hex-rotor and a 7-DoF (Degree of Freedom) manipulator. An independent control structure is used in the aerial manipulator control system, i.e., the hex-rotor and the manipulator are controlled separately. In the hex-controller, the system CoM (Center of Mass) offset motion is used to compensate disturbance of the robotic arm. the relative kinematics between the target and the aerial vehicle is taken into consideration to grasp the target. At last aerial grasping experiments are conducted to validate the feasibility of the proposed control scheme and the reliability of our aerial manipulator system. |
| Language | 英语 |
| Citation statistics | |
| Document Type | 会议论文 |
| Identifier | http://ir.sia.cn/handle/173321/23430 |
| Collection | 机器人学研究室 |
| Affiliation | 1.State Key Laboratory of Robotics,Shenyang Institute of Automation, Chinese Academy of Science, Shenyang 2.University of Chinese Academy of Sciences, Beijing 3.Department of Aerospace Engineering, Ryerson University, Toronto, ON M5B 2K3 Canada 4.Juntong Qi is with School of Electrical and Information Engineering, Tianjin University, Tianjin 300072, China |
| Recommended Citation GB/T 7714 | Zhang GY,He YQ,Dai B,et al. Grasp a Moving Target from the Air: System & Control of an Aerial Manipulator[C]//IEEE, CSIRO, Australian Govt, Dept Def Sci & Technol, DJI, Queensland Univ Technol, Woodside, Baidu, Bosch, Houston Mechatron, Kinova Robot, KUKA, Hit Robot Grp, Honda Res Inst, iRobot, Mathworks, NuTonomy, Ouster, Uber. LOS ALAMITOS, CA:IEEE Computer Society,2018:1681-1687. |
| Files in This Item: | Download All | |||||
| File Name/Size | DocType | Version | Access | License | ||
| Grasp a Moving Targe（7409KB） | 会议论文 | 开放获取 | CC BY-NC-SA | View Download | ||
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