Singularity-Robust Hybrid Visual Servoing Control for Aerial Manipulator

摘要

Control of aerial manipulation has attracted increasing attention in robotics these years. It is still a challenge to precisely control the manipulator under the influence of dynamical motion coupling between the aerial platform and manipulator. In this paper we develop a hybrid visual servoing approach for aerial manipulators to complete aerial manipulations. The hybrid controller integrates both advantages of the image-based and position-based visual servoing controllers; it ensures the target features staying in the field of view as well as guaranteeing the global convergence of error. Furthermore, to address the singularity problem existing in the flexible aerial manipulator, a SVD-based variant damped least square solution is developed. Experiments are performed on a custom-built aerial manipulator which consists of a 6-DoF serial manipulator and a coaxial octocopter. The experimental results have illustrated the effectiveness of the proposed approach.