A Practical Visual Servo Control for Aerial Manipulation Using a Spherical Projection Model

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成果类型：

期刊论文

作者：

Zhong, Hang;Miao, Zhiqiang*;Wang, Yaonan;Mao, Jianxu;Li, Ling;...

通讯作者：

Miao, Zhiqiang

作者机构：

[Zhong, Hang; Miao, Zhiqiang; Wang, Yaonan; Mao, Jianxu] Hunan Univ, Coll Elect & Informat Engn, Changsha 410082, Peoples R China.

[Li, Ling] Changsha Univ Sci & Technol, Engn Training Ctr, Changsha 410114, Peoples R China.

[Zhang, Hui] Changsha Univ Sci & Technol, Coll Elect & Informat Engn, Changsha 410114, Peoples R China.

[Chen, Yanjie] Fuzhou Univ, Sch Mech Engn & Automat, Fuzhou 350116, Peoples R China.

[Fierro, Rafael] Univ New Mexico, Multiagent Robot & Heterogeneous Syst Lab, Dept Elect & Comp Engn, Albuquerque, NM 87131 USA.

通讯机构：

[Miao, Zhiqiang] H

Hunan Univ, Coll Elect & Informat Engn, Changsha 410082, Peoples R China.

语种：

英文

关键词：

Manipulators;Visualization;Cameras;Servosystems;Task analysis;Grippers;Aerial manipulation;spherical projection;visual servo

期刊：

IEEE Transactions on Industrial Electronics

ISSN：

0278-0046

年：

2020

卷：

期：

页码：

10564-10574

DOI：

10.1109/TIE.2019.2958305

基金类别：

10.13039/501100001809-National Natural Science Foundation of China (Grant Number: 61433016, 61573134, 61503128, 61733004, 61971071, 61803089 and 61903135) National Key R&D Program of China (Grant Number: 2018YFB1308200) 10.13039/501100012226-Fundamental Research Funds for the Central Universities (Grant Number: 531118010224) Independent Research Subject Funding from Hunan University State Key Laboratory of Advanced Design and Manufacturing for Vehicle Body

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本校为其他机构

院系归属：

电气与信息工程学院

摘要：

This article addresses the problem of autonomous servoing control of an unmanned aerial manipulator with the capability of grasping target objects using computer vision. Specifically, a practical visual servo control using a spherical projection model is proposed. The aerial manipulator is an unmanned aerial vehicle equipped with a robotic arm that greatly increases the freedom and operational flexibility of the end-effector. However, it also increases the complexity of the kinematics, dynamics, and control design of the complete system. A nove...

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A Practical Visual Servo Control for Aerial Manipulation Using a Spherical Projection Model

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