Publication
Visual servoing of aerial manipulators
Book Chapter (2019)
Book Title
Aerial Robotic Manipulation. Vol 129 of Springer Tracts in Advanced Robotics
Publisher
Springer
Pages
191-202
Volume
129
Serie
Springer Tracts in Advanced Robotics
Doc link
https://doi.org/10.1007/978-3-030-12945-3_13
File
Authors
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Santamaria Navarro, Angel
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Andrade Cetto, Juan
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Lippiello, Vincenzo
Abstract
This chapter describes the classical techniques to control an aerial manipulator by means of visual information and presents an uncalibrated image-based visual servo method to drive the aerial vehicle. The proposed technique has the advantage that it contains mild assumptions about the principal point and skew values of the camera, and it does not require prior knowledge of the focal length, in contrast to traditional image-based approaches.
Categories
robots.
Scientific reference
A. Santamaria-Navarro, J. Andrade-Cetto and V. Lippiello. Visual servoing of aerial manipulators. In Aerial Robotic Manipulation. Vol 129 of Springer Tracts in Advanced Robotics, 191-202. Springer, 2019.
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