elib
DLR-Header
DLR-Logo -> http://www.dlr.de
DLR Portal Home | Imprint | Privacy Policy | Contact | Deutsch
Fontsize: [-] Text [+]

Hierarchical Control of Redundant Aerial Manipulators with Enhanced Field of View

Fialho Coelho, Andre and Sarkisov, Iurii and Lee, Jongseok and Balachandran, Ribin and Franchi, Antonio and Kondak, Konstantin and Ott, Christian (2021) Hierarchical Control of Redundant Aerial Manipulators with Enhanced Field of View. In: 2021 International Conference on Unmanned Aircraft Systems, ICUAS 2021, pp. 994-1002. IEEE. 2021 International Conference on Unmanned Aircraft Systems (ICUAS), 15-18 June 2021, Athens, Greece. doi: 10.1109/ICUAS51884.2021.9476739. ISBN 978-073813115-3. ISSN 2575-7296.

[img] PDF
11MB

Official URL: https://ieeexplore.ieee.org/abstract/document/9476739

Abstract

Providing the operator with a good view of the remote site is of paramount importance in aerial telemanipulation. In light of that, this paper proposes the application of a hierarchical control framework in order to tackle the problem of adjusting the field of view of an on-board camera as a secondary task. The proposed approach ensures that the flying base, and consequently the camera, can be steered in order to provide a distant operator with a desired field of view without disturbing the end-effector pose. The approach is focused on aerial manipulators with torque-controlled arms, like the DLR Suspended Aerial Manipulator (SAM), while allowing the base to be directly torque-controlled or, alternatively, through an inner-loop velocity controller. Quantitative, qualitative, and real-scenario experimental validation is carried out using the SAM and confirms the need for such an approach and its efficacy in achieving decoupled field-of-view control.

Item URL in elib:https://elib.dlr.de/144229/
Document Type:Conference or Workshop Item (Speech)
Title:Hierarchical Control of Redundant Aerial Manipulators with Enhanced Field of View
Authors:
AuthorsInstitution or Email of AuthorsAuthor's ORCID iD
Fialho Coelho, AndreAndre.Coelho (at) dlr.dehttps://orcid.org/0000-0002-0917-5574
Sarkisov, IuriiIurii.Sarkisov (at) dlr.deUNSPECIFIED
Lee, JongseokJongseok.Lee (at) dlr.deUNSPECIFIED
Balachandran, Ribinribin.balachandran (at) dlr.deUNSPECIFIED
Franchi, Antonioa.franchi (at) utwente.nlUNSPECIFIED
Kondak, KonstantinKonstantin.Kondak (at) dlr.deUNSPECIFIED
Ott, ChristianChristian.Ott (at) dlr.dehttps://orcid.org/0000-0003-0987-7493
Date:19 July 2021
Journal or Publication Title:2021 International Conference on Unmanned Aircraft Systems, ICUAS 2021
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In SCOPUS:Yes
In ISI Web of Science:No
DOI :10.1109/ICUAS51884.2021.9476739
Page Range:pp. 994-1002
Publisher:IEEE
ISSN:2575-7296
ISBN:978-073813115-3
Status:Published
Keywords:Aerial Manipulation, Whole-Body Control, Teleoperation
Event Title:2021 International Conference on Unmanned Aircraft Systems (ICUAS)
Event Location:Athens, Greece
Event Type:international Conference
Event Dates:15-18 June 2021
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Robotics
DLR - Research area:Raumfahrt
DLR - Program:R RO - Robotics
DLR - Research theme (Project):R - Intelligent Mobility (RM) [RO]
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Analysis and Control of Advanced Robotic Systems
Deposited By: Fialho Coelho, Andre
Deposited On:12 Oct 2021 11:00
Last Modified:12 Oct 2021 11:00

Repository Staff Only: item control page

Browse
Search
Help & Contact
Information
electronic library is running on EPrints 3.3.12
Copyright © 2008-2017 German Aerospace Center (DLR). All rights reserved.