Image-based visual-impedance control of a dual-arm aerial manipulator

被引：73

作者：

Lippiello, Vincenzo ^{[1
]}

Fontanelli, Giuseppe Andrea ^{[1
]}

Ruggiero, Fabio ^{[1
]}

机构：

[1] CREATE Consortium and the PRISMA Laboratory, Department of Electrical Engineering and Information Technology, University of Naples Federico II, Naples,80125, Italy

来源：

IEEE Robotics and Automation Letters | 2018年 / 3卷 / 03期

基金：

欧盟地平线“2020”;

关键词：

Antennas - Visual servoing - Inverse problems - Cameras - Jacobian matrices;

D O I：

10.1109/LRA.2018.2806091

中图分类号：

学科分类号：

摘要：

Three new image-based visual-impedance control laws are proposed in this letter allowing physical interaction of a dual-arm unmanned aerial manipulator equipped with a camera and a force/torque sensor. Namely, two first-order impedance behaviors are designed based on the transpose and the inverse of the system Jacobian matrix, respectively, while a second-order impedance behavior is carried out as well. Visual information is employed both to coordinate the camera motion in an eye-in-hand configuration with the assigned task executed by the other robot arm, and to define the elastic wrench component of the proposed hybrid impedance equations directly in the image plane. © 2016 IEEE.

引用

页码：1856 / 1863