Development of a Vision-enabled Aerial Manipulator using a Parallel Robot

Sungwook CHO, David Hyunchul SHIM
2017 TRANSACTIONS OF THE JAPAN SOCIETY FOR AERONAUTICAL AND SPACE SCIENCES AEROSPACE TECHNOLOGY JAPAN  
In this paper, we propose a novel type of aerial manipulation. The system proposed utilizes an eye-in-hand type of parallel manipulator with a visual sensor system attached on the end-effector. The aerial parallel manipulator can maximize the advantages of the serial manipulator while minimizing the combined shortcomings. In order to enhance these advantages, we derive the loosely coupled end-effector dynamics and apply them in the host vehicle utilizing a simple control law. Furthermore, we
more » ... pose a vision-enabled end-effector control architecture based on the inverse kinematics of the parallel robot. The system proposed is verified and validated by performing a flight test.
doi:10.2322/tastj.15.a27 fatcat:buacdvvjfvfstlzzoibjl5ly2e