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Abstract
Autonomous grasping with an aerial manipulator in the applications of aerial transportation and manipulation is still a challenging problem because of the complex kinematics/dynamics and motion constraints of the coupled rotors-manipulator system. The paper develops a novel aerial manipulation system with a lightweight manipulator, an X8 coaxial octocopter and onboard visual tracking system. To implement autonomous grasping control, we develop a novel and efficient approach that includes trajectory planning, visual trajectory tracking and kinematic compensation. Trajectory planning for aerial grasping control is formulated as a multi-objective optimization problem, while motion constraints and collision avoidance are considered in the optimization. A genetic method is applied to obtain the optimal solution. A kinematic compensation-based visual trajectory tracking is introduced to address the coupled affection between the manipulator and octocopter, with the advantage of discarding the complex dynamic parameter calibration. Finally, several experiments are performed to verify the effectiveness of the proposed approach.
Highlights
Unmanned aerial vehicle (UAV) that is equipped with a manipulator, namely unmanned aerial manipulator (UAM), is a popular research topic because of its immense potential for various applications, including express transportation, construction and maintenance, and manipulations in dangerous places that are difficult to reach by humans or ground mobile robots
The aerial manipulator flies towards the target object by using the onboard visual tracking system and remains in hovering mode when a place with sufficient grasping working space is reached
The paper proposes a novel approach for autonomous grasping with a multi-DoF lightweight aerial manipulator
Summary
Unmanned aerial vehicle (UAV) that is equipped with a manipulator, namely unmanned aerial manipulator (UAM), is a popular research topic because of its immense potential for various applications, including express transportation, construction and maintenance, and manipulations in dangerous places that are difficult to reach by humans or ground mobile robots. Many researchers have proposed interesting studies on aerial transportation and manipulation systems, including the mechanical and controller design of cable suspended systems and aerial grippers [2]. Like a tower crane system, UAV lifting a load with a cable-suspended device is a beneficial solution for aerial transportation [3,4,5,6]. Cable-suspended systems is able to provide high maneuverability for load transportation on all terrains, these systems are limited in the application of aerial manipulation, such as grasping. To achieve automatic aerial object gripping and transportation, various task-adaptive grippers or end-effectors directly attached to the UAV base have
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