Adaptive motion control of aerial robotic manipulators based on virtual decomposition

Jafarinasab, Mohammad; Sirouspour, Shahin

doi:10.1109/iros.2015.7353620

Cited by 8 publications

(1 citation statement)

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“…In [9], a hybrid visual servoing with a hierarchical task-composition control framework is presented as a solution of the control problem for the aerial vehicle and the manipulator. An adaptive motion control laws using the method of virtual decomposition was proposed by [10]. An aerial manipulation system presents complex dynamics due to the modification of the system center of mass and the mass distribution when the arm is carrying out a manipulation task.…”

Section: Introductionmentioning

confidence: 99%

Aerial manipulator with a compliant arm for bridge inspection

Jimenez-Cano

Heredia

Ollero

2017

2017 International Conference on Unmanned Aircraft Systems (ICUAS)

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This paper presents the design, development and testing of a 4-DoF aerial manipulator for bridge inspection, where the arm is placed at the upper part of the multirotor body. The manipulator joints are equipped with a compliant mechanism that allows the contact with the environment reducing the influence over the platform stability. The transmission mechanism consists of two pairs of springs and a potentiometer for measuring the angular deflection between the servo and the joint angular position, which allows the estimation of the contact forces. Experimental tests have been done with the aerial manipulator placing the end effector at different points in the lower part of a bridge girder, which is needed by bridge inspectors to measure girder's deflections over time.

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Section: Introductionmentioning

confidence: 99%