Coelho, Andre (German Aerospace Center (DLR)), Sarkisov, Yuri (Skolkovo Institute of Science and Technology), Lee, Jongseok (German Aerospace Center (DLR)), Balachandran, Ribin (German Aerospace Center (DLR)), Franchi, Antonio (University of Twente), Kondak, Konstantin (German Aerospace Center (DLR)), Ott, Christian (German Aerospace Center (DLR))

Hierarchical Control of Redundant Aerial Manipulators with Enhanced Field of View

Scheduled for presentation during the Regular Session "Control Design IV" (FrA2), Friday, June 18, 2021, 10:20−10:40, Kozani

2021 International Conference on Unmanned Aircraft Systems (ICUAS), June 15-18, 2021, Athens, Greece

This information is tentative and subject to change. Compiled on April 25, 2024

Abstract

Providing the operator with a good view of the remote site is of paramount importance in aerial telemanipulation. In light of that, this paper proposes the application of a hierarchical control framework in order to tackle the problem of adjusting the field of view of an on-board camera as a secondary task. The proposed approach ensures that the flying base, and consequently the camera, can be steered in order to provide a distant operator with a desired field of view without disturbing the end-effector pose. The approach is focused on aerial manipulators with torque-controlled arms, like the DLR Suspended Aerial Manipulator (SAM), while allowing the base to be directly torque-controlled or, alternatively, through an inner-loop velocity controller. Quantitative, qualitative, and real-scenario experimental validation is carried out using the SAM and confirms the need for such an approach and its efficacy in achieving decoupled field-of-view control.