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Laiacker, Maximilian and Huber, Felix and 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, 9-14 Oct. 2016, Daejon, South Korea. doi: 10.1109/IROS.2016.7759263. ISSN 2153-0866.
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Official URL: http://ieeexplore.ieee.org/document/7759263/
Abstract
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.
| Item URL in elib: | https://elib.dlr.de/109953/ | ||||||||||||||||
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| Document Type: | Conference or Workshop Item (Speech) | ||||||||||||||||
| Title: | High accuracy visual servoing for aerial manipulation using a 7 degrees of freedom industrial manipulator | ||||||||||||||||
| Authors: |
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| Date: | 9 October 2016 | ||||||||||||||||
| Journal or Publication Title: | IEEE International Conference on Intelligent Robots and Systems | ||||||||||||||||
| Refereed publication: | Yes | ||||||||||||||||
| Open Access: | Yes | ||||||||||||||||
| Gold Open Access: | No | ||||||||||||||||
| In SCOPUS: | Yes | ||||||||||||||||
| In ISI Web of Science: | No | ||||||||||||||||
| DOI: | 10.1109/IROS.2016.7759263 | ||||||||||||||||
| Publisher: | IEEE | ||||||||||||||||
| ISSN: | 2153-0866 | ||||||||||||||||
| Status: | Published | ||||||||||||||||
| Keywords: | Aerial Manipulation, visual servoing, uav, helicopter, lwr, sensor fusion | ||||||||||||||||
| Event Title: | Intelligent Robots and Systems (IROS), 2016 IEEE/RSJ International Conference on | ||||||||||||||||
| Event Location: | Daejon, South Korea | ||||||||||||||||
| Event Type: | international Conference | ||||||||||||||||
| Event Dates: | 9-14 Oct. 2016 | ||||||||||||||||
| Organizer: | IEEE | ||||||||||||||||
| HGF - Research field: | Aeronautics, Space and Transport | ||||||||||||||||
| HGF - Program: | Space | ||||||||||||||||
| HGF - Program Themes: | Space System Technology | ||||||||||||||||
| DLR - Research area: | Raumfahrt | ||||||||||||||||
| DLR - Program: | R SY - Space System Technology | ||||||||||||||||
| DLR - Research theme (Project): | R - Vorhaben Multisensorielle Weltmodellierung (old) | ||||||||||||||||
| Location: | Oberpfaffenhofen | ||||||||||||||||
| Institutes and Institutions: | Institute of Robotics and Mechatronics (since 2013) | ||||||||||||||||
| Deposited By: | Laiacker, Maximilian | ||||||||||||||||
| Deposited On: | 22 Dec 2016 09:02 | ||||||||||||||||
| Last Modified: | 20 Jun 2021 15:48 |
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