Image-Based Visual-Impedance Control of a Dual-Arm Aerial Manipulator

Vincenzo Lippiello; Giuseppe Andrea Fontanelli; Fabio Ruggiero

RA-L 201880 citations

Image-Based Visual-Impedance Control of a Dual-Arm Aerial Manipulator

Vincenzo Lippiello, Giuseppe Andrea Fontanelli, Fabio Ruggiero

Abstract

Three new image-based visual-impedance control laws are proposed in this letter allowing physical interaction of a dual-arm unmanned aerial manipulator equipped with a camera and a force/torque sensor. Namely, two first-order impedance behaviors are designed based on the transpose and the inverse of the system Jacobian matrix, respectively, while a second-order impedance behavior is carried out as well. Visual information is employed both to coordinate the camera motion in an eye-in-hand configuration with the assigned task executed by the other robot arm, and to define the elastic wrench component of the proposed hybrid impedance equations directly in the image plane.

BibTeX

@inproceedings{ral2018_imagebasedvisual,
  title = {Image-Based Visual-Impedance Control of a Dual-Arm Aerial Manipulator},
  author = {Vincenzo Lippiello and Giuseppe Andrea Fontanelli and Fabio Ruggiero},
  booktitle = {RA-L 2018},
  year = {2018}
}