A General Control Architecture for Visual Servoing and Physical Interaction Tasks for Fully-actuated Aerial Vehicles
| Autor: | Antonio Franchi, A. E. Jimenez-Cano, Martin Jacquet, Daniel Sidobre, Amr Afifi, Gianluca Corsini |
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| Přispěvatelé: | Équipe Robotique et InteractionS (LAAS-RIS), Laboratoire d'analyse et d'architecture des systèmes (LAAS), Université Toulouse - Jean Jaurès (UT2J)-Université Toulouse 1 Capitole (UT1), Université Fédérale Toulouse Midi-Pyrénées-Université Fédérale Toulouse Midi-Pyrénées-Centre National de la Recherche Scientifique (CNRS)-Université Toulouse III - Paul Sabatier (UT3), Université Fédérale Toulouse Midi-Pyrénées-Institut National des Sciences Appliquées - Toulouse (INSA Toulouse), Institut National des Sciences Appliquées (INSA)-Institut National des Sciences Appliquées (INSA)-Institut National Polytechnique (Toulouse) (Toulouse INP), Université Fédérale Toulouse Midi-Pyrénées-Université Toulouse - Jean Jaurès (UT2J)-Université Toulouse 1 Capitole (UT1), Université Fédérale Toulouse Midi-Pyrénées, Faculty of Electrical Engineering, Mathematics and Computer Science [Twente] (EEMCS), University of Twente [Netherlands], ANR-18-CE33-0001,The_flying_coworker,L'équipier volant(2018), ANR-17-CE33-0007,MUROPHEN,Controle de systèmes multi-robots pour l'observation de phenomenes dynamiques(2017), European Project: 871479,H2020 AERIAL-CORE, Université Toulouse Capitole (UT Capitole), Université de Toulouse (UT)-Université de Toulouse (UT)-Institut National des Sciences Appliquées - Toulouse (INSA Toulouse), Institut National des Sciences Appliquées (INSA)-Université de Toulouse (UT)-Institut National des Sciences Appliquées (INSA)-Université Toulouse - Jean Jaurès (UT2J), Université de Toulouse (UT)-Université Toulouse III - Paul Sabatier (UT3), Université de Toulouse (UT)-Centre National de la Recherche Scientifique (CNRS)-Institut National Polytechnique (Toulouse) (Toulouse INP), Université de Toulouse (UT)-Université Toulouse Capitole (UT Capitole), Université de Toulouse (UT), University of Twente |
| Rok vydání: | 2021 |
| Předmět: |
pick-and-place
Observer (quantum physics) Computer science ComputerApplications_COMPUTERSINOTHERSYSTEMS Aerial physical interaction Control engineering Robot end effector Visual servoing law.invention Visualization fully-actuated UAVs law [INFO.INFO-RB]Computer Science [cs]/Robotics [cs.RO] Robot SMT placement equipment Torque sensor Wrench |
| Zdroj: | The 1st AIRPHARO Workshop on Aerial Robotic Systems Physically Interacting with the Environment The 1st AIRPHARO Workshop on Aerial Robotic Systems Physically Interacting with the Environment, Oct 2021, Biograd na Moru, Croatia. ⟨10.1109/AIRPHARO52252.2021.9571053⟩ 2021 Aerial Robotic Systems Physically Interacting with the Environment (AIRPHARO) HAL |
| DOI: | 10.1109/airpharo52252.2021.9571053 |
| Popis: | International audience; In this paper, we present a general control architecture that allows fully-actuated aerial robots to autonomously accomplish tasks that require both perception and physical interaction with the external environment. We integrate the novel Flying End-Effector paradigm and a Hybrid Visual Servoing (HVS) scheme to design a general control architecture for fully-actuated aerial robots. Thanks to the proposed solution, a fully-actuated aerial robot can autonomously accomplish tasks that require both perception and physical interaction without resorting to any external force/torque sensor. The control architecture is entirely described, features a wrench observer and an admittance filter, and is subsequently validated on real experiments. The code for the proposed control architecture is provided open-source. |
| Databáze: | OpenAIRE |
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