[go: up one dir, main page]
More Web Proxy on the site http://driver.im/

Hamaza et al., 2019 - Google Patents

2d contour following with an unmanned aerial manipulator: Towards tactile-based aerial navigation

Hamaza et al., 2019

View PDF
Document ID
9534851537236669548
Author
Hamaza S
Georgilas I
Richardson T
Publication year
Publication venue
2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

External Links

Snippet

In this paper a force controller via energy tanks is implemented for novel applications in aerial contour follow. This control approach allows the aerial vehicle to trace out a boundary whilst in continuous contact with a surface by means of an actively compliant manipulator …
Continue reading at research-information.bris.ac.uk (PDF) (other versions)

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1674—Programme controls characterised by safety, monitoring, diagnostic
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1679—Programme controls characterised by the tasks executed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1602—Programme controls characterised by the control system, structure, architecture
    • B25J9/1607—Calculation of inertia, jacobian matrixes and inverses
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1628—Programme controls characterised by the control loop
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/02—Sensing devices
    • B25J19/021—Optical sensing devices
    • B25J19/023—Optical sensing devices including video camera means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/1005—Programme-controlled manipulators characterised by positioning means for manipulator elements comprising adjusting means
    • B25J9/1015—Programme-controlled manipulators characterised by positioning means for manipulator elements comprising adjusting means using additional, e.g. micro adjustment of the end effector
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/39—Robotics, robotics to robotics hand
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J5/00—Manipulators mounted on wheels or on carriages

Similar Documents

Publication Publication Date Title
Hamaza et al. Sensor installation and retrieval operations using an unmanned aerial manipulator
Scholten et al. Interaction control of an UAV endowed with a manipulator
CN109848983B (en) Method for guiding robot to cooperatively work by high-compliance person
Suarez et al. Physical-virtual impedance control in ultralightweight and compliant dual-arm aerial manipulators
Jimenez-Cano et al. Aerial manipulator for structure inspection by contact from the underside
Hamaza et al. 2d contour following with an unmanned aerial manipulator: Towards tactile-based aerial navigation
Suarez et al. Benchmarks for aerial manipulation
JP7469282B2 (en) Whole-body manipulation for legged robots using dynamic balance
Karayiannidis et al. In-hand manipulation using gravity and controlled slip
Hamaza et al. Design, modeling, and control of an aerial manipulator for placement and retrieval of sensors in the environment
Ullman et al. Experiments in autonomous navigation and control of a multi-manipulator, free-flying space robot
Vick et al. Safe physical human-robot interaction with industrial dual-arm robots
Soria et al. A 3d-printable docking system for aerial robots: Controlling aerial robotic manipulators in outdoor industrial applications
Xu et al. Autonomous path planning and experiment study of free-floating space robot for target capturing
McArthur et al. Autonomous control of the interacting-boomcopter UAV for remote sensor mounting
Zeng et al. Autonomous control design of an unmanned aerial manipulator for contact inspection
Liu et al. A novel six-legged walking machine tool for in-situ operations
Örger et al. A symmetrical robotic arm design approach with stereo-vision ability for CubeSats
Barakou et al. Real-time applicable cooperative aerial manipulation: A survey
Hafez et al. Stable under-actuated manipulator design for mobile manipulating Unmanned Aerial Vehicle (MM-UAV)
Sheng et al. Aerial contact manipulation with soft end-effector compliance and inverse kinematic compensation
Horyna et al. Autonomous collaborative transport of a beam-type payload by a pair of multi-rotor helicopters
Maier et al. Landing of VTOL UAVs using a stationary robot manipulator: A new approach for coordinated control
Meng et al. Force-sensorless contact force control of an aerial manipulator system
Wu et al. Collaboration of multiple mobile manipulators with compliance based leader/follower approach