High-speed development of unmanned aerial vehicles extends the applications of robots from the ground to the sky, which has brought great changes to people's social life. However, most commercially available UAVs are not equipped with robotic arms. The UAV with robotic arm has the ability to manipulate surrounding objects, which will greatly expand the working scope of the UAVs. In our research, we designed and completed a practical UAV autonomous grasping system in this experiment. UAV autonomous grasping system consists of five sub-systems, including flight control system, motion capture system, wireless communication system, ground station control system and Single-DOF Gripper System. The main difficulty lies in the coupling of the dynamics between the four-rotor unmanned aerial vehicle and the manipulator on it, mathematical modeling and etc. In addition, the four-rotor UAVs need to generate the appropriate flight path according to the actual pose of the target object in order to ensure the efficiency of the task. Based on this system, we have carried on the preliminary research on flight control and trajectory planning of the UAV system equipped with the manipulator. The results of the research will be helpful to implement and improve the system in the future.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Design and research of UAV autonomous grasping system


    Contributors:
    Qi, Juntong (author) / Kang, Jinan (author) / Lu, Xiang (author)


    Publication date :

    2017-10-01


    Size :

    733595 byte




    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



    Autonomous Grasping Using Novel Distance Estimator

    Skaldebø, Martin Breivik / Haugaløkken, Bent Oddvar Arnesen / Schjølberg, Ingrid | BASE | 2023

    Free access

    Gaze Tracking in Semi-Autonomous Grasping

    Castellini, Claudio | BASE | 2008

    Free access

    Semi-autonomous grasping for assisted glovebox operations

    Erwin Lopez / Radhika Nath | BASE | 2022

    Free access

    Special issue on autonomous grasping and manipulation

    Ben Amor, H. | British Library Online Contents | 2014


    Framework for Autonomous Underwater Grasping of Unknown Objects

    Peñalver Monfort, Antonio | BASE | 2019

    Free access