Visual servoing control for aerial manipulator via hierarchical motion decomposition

被引：0
|
作者：
Zhang Z.-P. [1 ,2 ]
He W. [1 ,2 ]
Liang X. [1 ,2 ]
Han J.-D. [1 ,2 ]
Fang Y.-C. [1 ,2 ]
机构：
[1] Institute of Robotics and Automatic Information System, College of Artificial Intelligence, Nankai University, Tianjin
[2] Tianjin Key Laboratory of Intelligent Robotics, Nankai University, Tianjin
来源：
Kongzhi Lilun Yu Yingyong/Control Theory and Applications | 2024年 / 41卷 / 05期
基金：
中国国家自然科学基金;
关键词：
aerial manipulator; multirotor UAV; visual servoing control;
D O I：
10.7641/CTA.2023.20214
中图分类号：
学科分类号：
摘要：
The aerial manipulator system has active operation capability, and the autonomous level of the system would be further improved if the aerial manipulator could perceive the surrounding environment by visual sensors. However, considering the underactuation of the multirotor and the nonlinear property of the overall system, visual servoing control of aerial manipulator systems is still a challenging work. This paper proposes a hierarchical motion decomposition based visual servoing control scheme for aerial manipulator sytems with full consideration of the force/torque effect exerted by the robotic arm on the fuselage of the unmanned aerial vehicle (UAV). Firstly, the kinematics and dynamics model of the aerial manipulator system is analyzed. Then, based on the obtained camera’s kinematics, the desired speed of the camera is obtained through image-based visual servo control, and the speed allocation strategy of the UAV and the manipulator is formulated. After considering the influence of the effect generated by the robotic arm on the UAV, the low-level flight controller is provided. Finally, compared with the existing method, the proposed method has better control performance and also presents good robustness against the uncertainty of image feature points position and image noise. © 2024 South China University of Technology. All rights reserved.
引用
收藏
页码：808 / 816
页数：8
相关论文
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