TRANSACTIONS OF THE JAPAN SOCIETY FOR AERONAUTICAL AND SPACE SCIENCES, AEROSPACE TECHNOLOGY JAPAN
Online ISSN : 1884-0485
ISSN-L : 1884-0485
Development of a Vision-enabled Aerial Manipulator using a Parallel Robot
Sungwook CHODavid Hyunchul SHIM
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2017 Volume 15 Issue APISAT-2016 Pages a27-a36

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Abstract

In this paper, we propose a novel type of aerial manipulation. The system proposed utilizes an eye-in-hand type of parallel manipulator with a visual sensor system attached on the end-effector. The aerial parallel manipulator can maximize the advantages of the serial manipulator while minimizing the combined shortcomings. In order to enhance these advantages, we derive the loosely coupled end-effector dynamics and apply them in the host vehicle utilizing a simple control law. Furthermore, we propose a vision-enabled end-effector control architecture based on the inverse kinematics of the parallel robot. The system proposed is verified and validated by performing a flight test.

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© 2017 The Japan Society for Aeronautical and Space Sciences
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