Conference proceeding
COORDINATED VISUAL AND KINEMATIC SERVOING FOR POSITIONING MANIPULATING UAV END-EFFECTORS
PROCEEDINGS OF THE ASME INTERNATIONAL DESIGN ENGINEERING TECHNICAL CONFERENCES AND COMPUTERS AND INFORMATION IN ENGINEERING CONFERENCE, 2014, VOL 5B, v 5B
01 Jan 2014
Featured in Collection : UN Sustainable Development Goals @ Drexel
Abstract
Manipulating objects using arms mounted to unmanned aerial vehicles (UAVs) is attractive because UAVs may access many locations that are otherwise inaccessible to traditional mobile manipulation platforms such as ground vehicles.
However, the constantly moving UAV platform and compliance of manipulator arms make it difficult to position the UAV and end-effector relative to an object of interest precisely enough for reliable manipulation. Solving this challenge will bring UAVs one step closer to being able to perform meaningful tasks such as infrastructure repair, disaster response, law enforcement, and personal assistance.
Toward a solution to this challenge, this paper describes an approach to coordinate the redundant degrees of freedom of a six degree of freedom gantry with those of a six degree of freedom manipulator arm. The manipulator's degrees of freedom are visually servoed to a specified pose relative to a target while treating motions of the host platform as perturbations. Simultaneously, the host platform's degrees of freedom are servoed using kinematic information from the manipulator. This drives the base of the manipulator to a position that allows it to assume a joint-space configuration that maximizes reachability while minimizing static torque transmitted from the arm to the host.
Metrics
4 Record Views
Details
- Title
- COORDINATED VISUAL AND KINEMATIC SERVOING FOR POSITIONING MANIPULATING UAV END-EFFECTORS
- Creators
- Todd W. Danko - Drexel UniversityPaul Y. Oh - Drexel UniversityASME
- Publication Details
- PROCEEDINGS OF THE ASME INTERNATIONAL DESIGN ENGINEERING TECHNICAL CONFERENCES AND COMPUTERS AND INFORMATION IN ENGINEERING CONFERENCE, 2014, VOL 5B, v 5B
- Conference
- ASME INTERNATIONAL DESIGN ENGINEERING TECHNICAL CONFERENCES AND COMPUTERS AND INFORMATION IN ENGINEERING CONFERENCE, 2014
- Publisher
- Amer Soc Mechanical Engineers
- Number of pages
- 8
- Resource Type
- Conference proceeding
- Language
- English
- Web of Science ID
- WOS:000379987500079
- Scopus ID
- 2-s2.0-84961299411
- Other Identifier
- 991019350675604721
UN Sustainable Development Goals (SDGs)
This publication has contributed to the advancement of the following goals:
InCites Highlights
Data related to this publication, from InCites Benchmarking & Analytics tool:
- Web of Science research areas
- Engineering, Electrical & Electronic
- Engineering, Mechanical