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JRM Vol.33 No.2 pp. 231-241
doi: 10.20965/jrm.2021.p0231
(2021)

Paper:

Aerial Manipulator Control Method Based on Generalized Jacobian

Takahiro Ikeda*, Kenichi Ohara**, Akihiko Ichikawa**, Satoshi Ashizawa**, Takeo Oomichi**, and Toshio Fukuda**

*Gifu University
1-1 Yanagido, Gifu city, Gifu 501-1193, Japan

**Meijo University
501-1 Shiogamaguchi, Tempaku-ku, Nagoya, Aichi 468-8502, Japan

Received:
September 11, 2020
Accepted:
February 4, 2021
Published:
April 20, 2021
Keywords:
unmanned aerial vehicle (UAV), generalized Jacobian, bridge inspection, visual inspection
Abstract

This paper describes a control method for an aerial manipulator on an unmanned aerial vehicle (UAV) by using a generalized Jacobian (GJ). Our task is to realize visual check of bridge inspection by employing a UAV with a multi-degree-of-freedom (DoF) manipulator on its top. The manipulator is controlled by using the GJ. Subsequently, by comparing the aerial manipulator control with a conventional Jacobian experimentally, we discovered that the accuracy of the control improved by applying the GJ. The manipulator has three DoFs in the X-Z plane of the UAV coordinate system. The experiment shows that the manipulator controlled with the GJ can compensate for the pose error of the body by 54.5% and 47.7% in the X- and Z-axes, respectively.

Aerial manipulator for visual verification

Aerial manipulator for visual verification

Cite this article as:
T. Ikeda, K. Ohara, A. Ichikawa, S. Ashizawa, T. Oomichi, and T. Fukuda, “Aerial Manipulator Control Method Based on Generalized Jacobian,” J. Robot. Mechatron., Vol.33 No.2, pp. 231-241, 2021.
Data files:
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