Visual servoing control for aerial manipulator via hierarchical motion decomposition
The aerial manipulator system has active operation capability,and the autonomous level of the system would be further improved if the aerial manipulator could perceive the surrounding environment by visual sensors.However,considering the underactuation of the multirotor and the nonlinear property of the overall system,visual servoing control of aerial manipulator systems is still a challenging work.This paper proposes a hierarchical motion decomposition based visual servoing control scheme for aerial manipulator sytems with full consideration of the force/torque effect exerted by the robotic arm on the fuselage of the unmanned aerial vehicle(UAV).Firstly,the kinematics and dynamics model of the aerial manipulator system is analyzed.Then,based on the obtained camera's kinematics,the desired speed of the camera is obtained through image-based visual servo control,and the speed allocation strategy of the UAV and the manipulator is formulated.After considering the influence of the effect generated by the robotic arm on the UAV,the low-level flight controller is provided.Finally,compared with the existing method,the proposed method has better control performance and also presents good robustness against the uncertainty of image feature points position and image noise.
multirotor UAVaerial manipulatorvisual servoing control
国家科技期刊平台
NSTL
万方数据
