Task priority control for aerial manipulation

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To access the full text documents, please follow this link: http://hdl.handle.net/2117/26274

dc.contributor	Institut de Robòtica i Informàtica Industrial
dc.contributor	Universitat Politècnica de Catalunya. VIS - Visió Artificial i Sistemes Intel.ligents
dc.contributor.author	Santamaria Navarro, Àngel
dc.contributor.author	Lippiello, Vincenzo
dc.contributor.author	Andrade-Cetto, Juan
dc.date	2014
dc.identifier.citation	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.
dc.identifier.citation	10.1109/SSRR.2014.7017672
dc.identifier.uri	http://hdl.handle.net/2117/26274
dc.language.iso	eng
dc.relation	http://dx.doi.org/10.1109/SSRR.2014.7017672
dc.relation	info:eu-repo/grantAgreement/EC/FP7/287617/EU/Aerial Robotics Cooperative Assembly System/ARCAS
dc.rights	Attribution-NonCommercial-NoDerivs 3.0 Spain
dc.rights	info:eu-repo/semantics/openAccess
dc.rights	http://creativecommons.org/licenses/by-nc-nd/3.0/es/
dc.subject	Àrees temàtiques de la UPC::Informàtica::Robòtica
dc.subject	aerospace robotics
dc.subject	manipulators
dc.subject	robot kinematics
dc.subject	robot vision
dc.subject	task priority control
dc.subject	Classificació INSPEC::Control theory
dc.subject	Classificació INSPEC::Automation::Robots::Robot kinematics
dc.title	Task priority control for aerial manipulation
dc.type	info:eu-repo/semantics/submittedVersion
dc.type	info:eu-repo/semantics/conferenceObject
dc.description.abstract	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. The arm singularities and manipulability are addressed by another subtask that leads the arm to a preferable configuration, and also takes into account the arm joint limits. The performance of the whole visual servo and secondary tasks control scheme is shown in a Robot Operating System (ROS) implementation.
dc.description.abstract	Peer Reviewed

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