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High accuracy visual servoing for aerial manipulation using a 7 degrees of freedom industrial manipulator

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, 2016-10-09 - 2016-10-14, 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/
Document Type:Conference or Workshop Item (Speech)
Title:High accuracy visual servoing for aerial manipulation using a 7 degrees of freedom industrial manipulator
Authors:
AuthorsInstitution or Email of AuthorsAuthor's ORCID iDORCID Put Code
Laiacker, MaximilianUNSPECIFIEDUNSPECIFIEDUNSPECIFIED
Huber, FelixUNSPECIFIEDUNSPECIFIEDUNSPECIFIED
Kondak, KonstantinUNSPECIFIEDUNSPECIFIEDUNSPECIFIED
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 Start Date:9 October 2016
Event End Date:14 October 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:24 Apr 2024 20:15

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