• Complex
  • Title
  • Keyword
  • Abstract
  • Scholars
  • Journal
  • ISSN
  • Conference
成果搜索

author:

Lai, Ningbin (Lai, Ningbin.) [1] | Chen, Yanjie (Chen, Yanjie.) [2] | Liang, Jiacheng (Liang, Jiacheng.) [3] | He, Bingwei (He, Bingwei.) [4] | Zhong, Hang (Zhong, Hang.) [5] | Wang, Yaonan (Wang, Yaonan.) [6]

Indexed by:

EI

Abstract:

Compared with the unmanned aerial vehicle (UAV), the aerial manipulator extends the ability to interact with the environment by using the onboard manipulator. The complex dynamic characteristics of the combined system increase the challenges of accurately control the aerial manipulator to approximate the target object. In this paper, an onboard-eye-to-hand visual servo and task coordination control strategy is proposed for the aerial manipulator to enhance the accurate manipulation and flight stability. By establishing a new spherical coordinate error equation, the flying platform (quadrotor) and onboard manipulator can be controlled simultaneously. Meanwhile, the multi-task coordinated control scheme is adopted to achieve precise positioning and grasping of the target object, including estimating the object pose, dynamically compensating the change of the center of gravity of the aerial manipulator, and avoiding the onboard manipulator joint limitations. The stability of the closed-loop system is analyzed by the Lyapunov method. Finally, the feasibility of the proposed visual servo method is verified in simulations and real-world outdoor experiments, respectively. The strengths of the proposed method are demonstrated by comparing it with the conventional visual servo method. © 2022 Elsevier Ltd

Keyword:

Antennas Closed loop systems Lyapunov methods Manipulators Unmanned aerial vehicles (UAV) Visual servoing

Community:

  • [ 1 ] [Lai, Ningbin]School of Mechanical Engineering and Automation, Fuzhou University, Fuzhou; 350108, China
  • [ 2 ] [Chen, Yanjie]School of Mechanical Engineering and Automation, Fuzhou University, Fuzhou; 350108, China
  • [ 3 ] [Chen, Yanjie]National Engineering Research Center for Robot Visual Perception and Control Technology, 410082, China
  • [ 4 ] [Liang, Jiacheng]School of Mechanical Engineering and Automation, Fuzhou University, Fuzhou; 350108, China
  • [ 5 ] [He, Bingwei]School of Mechanical Engineering and Automation, Fuzhou University, Fuzhou; 350108, China
  • [ 6 ] [Zhong, Hang]College of Electrical and Information Engineering, Hunan University, 410082, China
  • [ 7 ] [Zhong, Hang]National Engineering Research Center for Robot Visual Perception and Control Technology, 410082, China
  • [ 8 ] [Wang, Yaonan]College of Electrical and Information Engineering, Hunan University, 410082, China
  • [ 9 ] [Wang, Yaonan]National Engineering Research Center for Robot Visual Perception and Control Technology, 410082, China

Reprint 's Address:

Email:

Show more details

Related Keywords:

Related Article:

Source :

Mechatronics

ISSN: 0957-4158

Year: 2022

Volume: 82

3 . 3

JCR@2022

3 . 1 0 0

JCR@2023

ESI HC Threshold:66

JCR Journal Grade:2

CAS Journal Grade:2

Cited Count:

WoS CC Cited Count:

SCOPUS Cited Count: 8

ESI Highly Cited Papers on the List: 0 Unfold All

WanFang Cited Count:

Chinese Cited Count:

30 Days PV: 1

Affiliated Colleges:

Online/Total:576/10715388
Address:FZU Library(No.2 Xuyuan Road, Fuzhou, Fujian, PRC Post Code:350116) Contact Us:0591-22865326
Copyright:FZU Library Technical Support:Beijing Aegean Software Co., Ltd. 闽ICP备05005463号-1