1. Set-based Inverse Kinematics Control of an Anthropomorphic Dual Arm Aerial Manipulator
- Author
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Guillermo Heredia, Gianluca Antonelli, Francesco Pierri, P.A. Di Lillo, Fran Real, Alejandro Suarez, Anibal Ollero, Fabrizio Caccavale, and Elisabetta Cataldi
- Subjects
0209 industrial biotechnology ,Robot kinematics ,Inverse kinematics ,Computer science ,Underactuation ,02 engineering and technology ,Kinematics ,Robot end effector ,Motion control ,law.invention ,Computer Science::Robotics ,020901 industrial engineering & automation ,Singularity ,Position (vector) ,law ,Control theory ,0202 electrical engineering, electronic engineering, information engineering ,Torque ,020201 artificial intelligence & image processing ,Manipulator ,ComputingMethodologies_COMPUTERGRAPHICS - Abstract
The paper presents a multiple task-priorityinverse kinematics algorithm for a dual-arm aerial manipulator.Both tasks defined as equality constraints and inequalityconstraints are handled by means of a singularity robustmethod based on the Null-Space based Behavioral control.The proposed schema is constituted by the inverse kinematicscontrol, that receives the desired behavior of the system andoutputs the reference values for the motion variables, i.e.the UAV pose and the arm joints position, and a motioncontrol, that computes the vehicle thrusts and the jointtorques. The method has been experimentally validated ona system composed by an underactuated aerial hexarotorvehicle equipped with two lightweight 4-DOF manipulators,involved in operations requiring the coordination of the twoarms and the vehicle.
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