Aerial Manipulator Control Method Based on Generalized Jacobian
Takahiro Ikeda*, Kenichi Ohara**, Akihiko Ichikawa**, Satoshi Ashizawa**, Takeo Oomichi**, and Toshio Fukuda**
1-1 Yanagido, Gifu city, Gifu 501-1193, Japan
501-1 Shiogamaguchi, Tempaku-ku, Nagoya, Aichi 468-8502, Japan
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.
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