Modeling and Control of Aerial Manipulation Vehicle with Visual sensor

Kannan, Somasundar; Olivares Mendez, Miguel Angel; Voos, Holger

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Modeling and Control of Aerial Manipulation Vehicle with Visual sensor

Kannan, Somasundar; Olivares Mendez, Miguel Angel; Voos, Holger

2013 • In Second Workshop on Research, Development and Education on Unmanned Aerial Systems (RED-UAS 2013)

Peer reviewed

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https://hdl.handle.net/10993/11964

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Keywords :

Autonomous Vehicle; Control; Robotic manipulators; Robot Dynamics; vision

Abstract :

[en] Modeling and control of a Quadrotor with robotic arm which uses vision sensor is discussed. A quadrotor model coupled with a two link manipulator is first developed and then the integrated control mechanism is investigated. An Image Based Visual Servo system is introduced and then used with the aerial manipulator to successfully perform specific tasks of positioning and stabilization during manipulation.

Disciplines :

Aerospace & aeronautics engineering

Author, co-author :

Kannan, Somasundar ; University of Luxembourg > Interdisciplinary Centre for Security, Reliability and Trust (SNT)

Olivares Mendez, Miguel Angel ; University of Luxembourg > Interdisciplinary Centre for Security, Reliability and Trust (SNT)

Voos, Holger ; University of Luxembourg > Faculty of Science, Technology and Communication (FSTC) > Engineering Research Unit ; University of Luxembourg > Interdisciplinary Centre for Security, Reliability and Trust (SNT)

External co-authors :

Language :

English

Title :

Modeling and Control of Aerial Manipulation Vehicle with Visual sensor

Publication date :

November 2013

Event name :

Second Workshop on Research, Development and Education on Unmanned Aerial Systems (RED-UAS 2013)

Event date :

November 2013

Audience :

International

Main work title :

Second Workshop on Research, Development and Education on Unmanned Aerial Systems (RED-UAS 2013)

Peer reviewed :

Peer reviewed

Available on ORBilu :

since 26 November 2013

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Scopus citations^®
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Bibliography

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