Conference proceeding
Insertion tasks using an aerial manipulator
The Institute of Electrical and Electronics Engineers, Inc. (IEEE) Conference Proceedings
01 Apr 2014
Abstract
Conference Title: 2014 IEEE International Conference on Technologies for Practical Robot Applications (TePRA) Conference Start Date: 2014, April 14 Conference End Date: 2014, April 15 Conference Location: Woburn, MA, USA This paper demonstrates insertion tasks using an aerial vehicle affixed with a multi-degree of freedom manipulator. Using a combined strategy of visual servoing and force feedback compliance, the aerial manipulator achieves peg-in-hole insertion while attached to a validation test rig. A strongly coupled control scheme between the aircraft and manipulator is mandated for tasks requiring millimeter accuracy. Visual servoing is well-established for both ground and aerial vehicles and facilitates the large aircraft-arm motions. Force feedback upon contact with the environment provides compliant insertion and smaller motions in the presence of position error. We present recent results demonstrating and validating peg-in-hole insertion using the proposed aircraft-arm model and system. [PUBLICATION ABSTRACT]
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Details
- Title
- Insertion tasks using an aerial manipulator
- Creators
- Christopher KorpelaMatko OrsagTodd DankoPaul Oh
- Publication Details
- The Institute of Electrical and Electronics Engineers, Inc. (IEEE) Conference Proceedings
- Publisher
- The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
- Resource Type
- Conference proceeding
- Language
- English
- Identifiers
- 991019348622104721