SIA OpenIR  > 机器人学研究室
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
Department机器人学研究室
Conference NameIEEE International Conference on Robotics and Automation (ICRA)
Conference DateMay 21-25, 2018
Conference PlaceBrisbane, AUSTRALIA
Author of SourceIEEE, 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 Publication2018 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA)
PublisherIEEE Computer Society
Publication PlaceLOS ALAMITOS, CA
2018
Pages1681-1687
Indexed ByEI ; CPCI(ISTP)
EI Accession number20191206670693
WOS IDWOS:000446394501045
Contribution Rank1
ISSN1050-4729
ISBN978-1-5386-3081-5
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
Cited Times:4[WOS]   [WOS Record]     [Related Records in WOS]
Document Type会议论文
Identifierhttp://ir.sia.cn/handle/173321/23430
Collection机器人学研究室
Affiliation1.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-SAView Download
Related Services
Recommend this item
Bookmark
Usage statistics
Export to Endnote
Google Scholar
Similar articles in Google Scholar
[Zhang GY(张广玉)]'s Articles
[He YQ(何玉庆)]'s Articles
[Dai B(代波)]'s Articles
Baidu academic
Similar articles in Baidu academic
[Zhang GY(张广玉)]'s Articles
[He YQ(何玉庆)]'s Articles
[Dai B(代波)]'s Articles
Bing Scholar
Similar articles in Bing Scholar
[Zhang GY(张广玉)]'s Articles
[He YQ(何玉庆)]'s Articles
[Dai B(代波)]'s Articles
Terms of Use
No data!
Social Bookmark/Share
File name: Grasp a Moving Target from the Air.pdf
Format: Adobe PDF
All comments (0)
No comment.
 

Items in the repository are protected by copyright, with all rights reserved, unless otherwise indicated.