Aerial Manipulator Control Method Based on Generalized Jacobian
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Published:2021-04-20
Issue:2
Volume:33
Page:231-241
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ISSN:1883-8049
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Container-title:Journal of Robotics and Mechatronics
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language:en
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Short-container-title:J. Robot. Mechatron.
Author:
Ikeda Takahiro,Ohara Kenichi,Ichikawa Akihiko,Ashizawa Satoshi,Oomichi Takeo,Fukuda Toshio, ,
Abstract
This paper describes a control method for an aerial manipulator on an unmanned aerial vehicle (UAV) by using a generalized Jacobian (GJ). Our task is to realize visual check of bridge inspection by employing a UAV with a multi-degree-of-freedom (DoF) manipulator on its top. The manipulator is controlled by using the GJ. Subsequently, by comparing the aerial manipulator control with a conventional Jacobian experimentally, we discovered that the accuracy of the control improved by applying the GJ. The manipulator has three DoFs in the X-Z plane of the UAV coordinate system. The experiment shows that the manipulator controlled with the GJ can compensate for the pose error of the body by 54.5% and 47.7% in the X- and Z-axes, respectively.
Publisher
Fuji Technology Press Ltd.
Subject
Electrical and Electronic Engineering,General Computer Science
Reference29 articles.
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Cited by
3 articles.
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