Abstract
Towards target grasping by an aerial manipulator, an aerial manipulator system is presented, for which a separated control strategy is adopted. In this paper, a suitable adaptive visual servo controller is proposed based on the original aerial manipulator system, and a visual servo controller is designed based on the depth independent image Jacobian matrix. Thus, the grasping motion of the manipulator is controlled by the visual servo of the monocular camera, which can greatly enhance the functionality and speed of the aerial manipulator system. Furthermore, a unique single degree of freedom joint collocation camera is designed to enable the camera to lock the target object at any time during the motion of aircraft. Finally, this paper designs a unique state machine system, which can make the control system switch into any state.
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