Vision-Guided Aerial Manipulation Using a Multirotor With a Robotic Arm

摘要

This paper presents a vision guidance approach using an image-based visual servo (IBVS) for an aerial manipulator combining a multirotor with a multidegree of freedom robotic arm. To take into account the dynamic characteristics of the combined manipulation platform, the kinematic and dynamic models of the combined system are derived. Based on the combined model, a passivity-based adaptive controller which can be applied on both position and velocity control is designed. The position control is utilized for waypoint tracking such as taking off and landing, and the velocity control is engaged when the platform is guided by visual information. In addition, a guidance law utilizing IBVS is employed with modifications. To secure the view of an object with an eye-in-hand camera, IBVS is utilized with images taken from a fisheye camera. Also, to compensate underactuation of the multirotor, an image adjustment method is developed. With the proposed control and guidance laws, autonomous flight experiments involving grabbing and transporting an object are carried out. Successful experimental results demonstrate that the proposed approaches can be applied in various types of manipulation missions.