DocumentCode :
663851
Title :
First analysis and experiments in aerial manipulation using fully actuated redundant robot arm
Author :
Huber, F. ; Kondak, K. ; Krieger, Kai ; Sommer, D. ; Schwarzbach, M. ; Laiacker, M. ; Kossyk, Ingo ; Parusel, Sven ; Haddadin, Sami ; Albu-Schaffer, Alin
Author_Institution :
DLR-German Aerosp. Center, Inst. of Robot. & Mechatron., Wessling, Germany
fYear :
2013
fDate :
3-7 Nov. 2013
Firstpage :
3452
Lastpage :
3457
Abstract :
In this paper we describe a system for aerial manipulation composed of a helicopter platform and a fully actuated seven Degree of Freedom (DoF) redundant industrial robotic arm. We present the first analysis of such kind of systems and show that the dynamic coupling between helicopter and arm can generate diverging oscillations with very slow frequency which we called phase circles. Based on the presented analysis, we propose a control approach for the whole system. The partial decoupling between helicopter and arm - which eliminates the phase circles - is achieved by means of special movement of robotic arm utilizing its redundant DoF. For the underlying arm control a specially designed impedance controller was proposed. In different flight experiments we showcase that the proposed kind of system type might be used in the future for practically relevant tasks. In an integrated experiment we demonstrate a basic manipulation task - impedance based grasping of an object from the environment underlaying a visual object tracking control loop.
Keywords :
control system synthesis; helicopters; industrial robots; redundant manipulators; actuated redundant robot arm; aerial manipulation; arm control; basic manipulation task; degree of freedom redundant industrial robotic arm; dynamic coupling; helicopter platform; impedance based grasping; impedance controller design; partial decoupling; redundant DoF; visual object tracking control loop; Helicopters; Impedance; Joints; Manipulators; Rotors; Torque;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Intelligent Robots and Systems (IROS), 2013 IEEE/RSJ International Conference on
Conference_Location :
Tokyo
ISSN :
2153-0858
Type :
conf
DOI :
10.1109/IROS.2013.6696848
Filename :
6696848
Link To Document :
بازگشت