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Laiacker, Maximilian und Huber, Felix und Kondak, Konstantin (2016) High accuracy visual servoing for aerial manipulation using a 7 degrees of freedom industrial manipulator. In: IEEE International Conference on Intelligent Robots and Systems. IEEE. Intelligent Robots and Systems (IROS), 2016 IEEE/RSJ International Conference on, 2016-10-09 - 2016-10-14, Daejon, South Korea. doi: 10.1109/IROS.2016.7759263. ISSN 2153-0866.
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Offizielle URL: http://ieeexplore.ieee.org/document/7759263/
Kurzfassung
This paper is devoted to the performance optimization of an aerial manipulation system composed of a Flettner-helicopter and 7 DoF manipulator. With experiments we demonstrate that the time delays in signal propagation between perception and actuation modules play an important role for the overall performance of an aerial manipulator system using visual servoing. We present an approach for estimation of the perception-action time delay and its active compensation based on the predicted motion of the manipulator end-effector.
| elib-URL des Eintrags: | https://elib.dlr.de/109953/ | ||||||||||||||||
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| Dokumentart: | Konferenzbeitrag (Vortrag) | ||||||||||||||||
| Titel: | High accuracy visual servoing for aerial manipulation using a 7 degrees of freedom industrial manipulator | ||||||||||||||||
| Autoren: |
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| Datum: | 9 Oktober 2016 | ||||||||||||||||
| Erschienen in: | IEEE International Conference on Intelligent Robots and Systems | ||||||||||||||||
| Referierte Publikation: | Ja | ||||||||||||||||
| Open Access: | Ja | ||||||||||||||||
| Gold Open Access: | Nein | ||||||||||||||||
| In SCOPUS: | Ja | ||||||||||||||||
| In ISI Web of Science: | Nein | ||||||||||||||||
| DOI: | 10.1109/IROS.2016.7759263 | ||||||||||||||||
| Verlag: | IEEE | ||||||||||||||||
| ISSN: | 2153-0866 | ||||||||||||||||
| Status: | veröffentlicht | ||||||||||||||||
| Stichwörter: | Aerial Manipulation, visual servoing, uav, helicopter, lwr, sensor fusion | ||||||||||||||||
| Veranstaltungstitel: | Intelligent Robots and Systems (IROS), 2016 IEEE/RSJ International Conference on | ||||||||||||||||
| Veranstaltungsort: | Daejon, South Korea | ||||||||||||||||
| Veranstaltungsart: | internationale Konferenz | ||||||||||||||||
| Veranstaltungsbeginn: | 9 Oktober 2016 | ||||||||||||||||
| Veranstaltungsende: | 14 Oktober 2016 | ||||||||||||||||
| Veranstalter : | IEEE | ||||||||||||||||
| HGF - Forschungsbereich: | Luftfahrt, Raumfahrt und Verkehr | ||||||||||||||||
| HGF - Programm: | Raumfahrt | ||||||||||||||||
| HGF - Programmthema: | Technik für Raumfahrtsysteme | ||||||||||||||||
| DLR - Schwerpunkt: | Raumfahrt | ||||||||||||||||
| DLR - Forschungsgebiet: | R SY - Technik für Raumfahrtsysteme | ||||||||||||||||
| DLR - Teilgebiet (Projekt, Vorhaben): | R - Vorhaben Multisensorielle Weltmodellierung (alt) | ||||||||||||||||
| Standort: | Oberpfaffenhofen | ||||||||||||||||
| Institute & Einrichtungen: | Institut für Robotik und Mechatronik (ab 2013) | ||||||||||||||||
| Hinterlegt von: | Laiacker, Maximilian | ||||||||||||||||
| Hinterlegt am: | 22 Dez 2016 09:02 | ||||||||||||||||
| Letzte Änderung: | 24 Apr 2024 20:15 |
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