A multi-task velocity-based redundancy resolution strategy for unmanned aerial manipulators

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  • Nursultan Imanberdiyev, Nanyang Technological University
  • ,
  • Josephine Monica, Cornell University
  • ,
  • Erdal Kayacan

Unmanned aerial manipulators (UAMs) provide a remarkable level of dexterity on performing complex aerial manipulation tasks thanks to their high number of degrees of freedom (DOFs). By taking advantage of this redundancy, in this paper, a multi-task online redundancy resolution strategy is proposed to accomplish multiple UAM tasks while satisfying additional constraints such as joint angle limit and obstacle avoidance. The proposed approach is computationally inexpensive to run online, allowing UAM to dynamically react to unforeseen events by modifying its configuration during the execution of the primary task. In addition, the proposed approach incorporates the maximization of the manipulability measure into the objective function of the redundancy resolution framework. Moreover, in order to ensure the motion smoothness and satisfy the robot physical constraints the task relaxation approach for aerial manipulation is presented. Extensive simulation studies in ROS-Gazebo environment are performed to validate the performance of the proposed approach.

Titel2019 18th European Control Conference, ECC 2019
Antal sider6
Udgivelsesårjun. 2019
ISBN (Elektronisk)9783907144008
StatusUdgivet - jun. 2019
Begivenhed18th European Control Conference, ECC 2019 - Naples, Italien
Varighed: 25 jun. 201928 jun. 2019


Konference18th European Control Conference, ECC 2019
SponsorEuropean Control Assoication (EUCA)
Serietitel2019 18th European Control Conference, ECC 2019

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