Trabajo presentado al IEEE International Symposium on Safety, Security and Rescue Robotics (SSRR) celebrado en Hokkaido (Japón) del 27 al 30 de octubre de 2014. ; This paper presents a task oriented control strategy for aerial vehicles equipped with a manipulator. A camera is attached to the end-effector of the manipulator to perform a primary task consisting on visual servoing towards a desired target. Over-actuation of the whole quadrotor-arm system is exploited to achieve secondary velocity tasks. One subtask is proposed to horizontally stabilize the platform during flight by aligning the arm center of gravity with the quadrotor gravitational vector. The arm singularities and manipulability are addressed by another subtask that leads the arm to a preferable configuration, and also takes into account the arm joint limits. The performance of the whole visual servo and secondary tasks control scheme is shown in a Robot Operating System (ROS) implementation. ; This work has been partially funded by the EU project ARCAS FP7-ICT-287617. ; Peer Reviewed


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    Title :

    Task priority control for aerial manipulation



    Publication date :

    2014-01-01



    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English


    Classification :

    DDC:    629



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