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- Title
Aerial Manipulator Control Method Based on Generalized Jacobian.
- Authors
Ikeda, Takahiro; Ohara, Kenichi; Ichikawa, Akihiko; Ashizawa, Satoshi; Oomichi, Takeo; Fukuda, Toshio
- Abstract
This paper describes a control method for an aerial manipulator on an unmanned aerial vehicle (UAV) by using a generalized Jacobian (GJ). Our task is to realize visual check of bridge inspection by employing a UAV with a multi-degree-of-freedom (DoF) manipulator on its top. The manipulator is controlled by using the GJ. Subsequently, by comparing the aerial manipulator control with a conventional Jacobian experimentally, we discovered that the accuracy of the control improved by applying the GJ. The manipulator has three DoFs in the X-Z plane of the UAV coordinate system. The experiment shows that the manipulator controlled with the GJ can compensate for the pose error of the body by 54.5% and 47.7% in the X- and Z-axes, respectively.
- Subjects
DRONE aircraft; DEGREES of freedom; JACOBIAN determinants; GENERALIZATION; MANIPULATORS (Machinery)
- Publication
Journal of Robotics & Mechatronics, 2021, Vol 33, Issue 2, p231
- ISSN
0915-3942
- Publication type
Article
- DOI
10.20965/jrm.2021.p0231