Action Synchronization between Human and UAV Robotic Arms for Remote Operation

Lan, Gongjin; Bu, Yasheng; Liang, Jinhao; Hao, Qi

10.1109/ICMA.2016.7558955

2016

2152-744X

978-1-5090-2397-4

2016 IEEE INTERNATIONAL CONFERENCE ON MECHATRONICS AND AUTOMATION

2477-2481

7-10 Aug. 2016

Harbin, Heilongjiang, China

345 E 47TH ST, NEW YORK, NY 10017 USA

IEEE

This paper presents a novel automatic system that remote operations between the user arm and a multi-rotor UAV robotic arm to achieve synchronizes actions. The system contains three parts: two sets of IMU motion sensors, a six-degrees-of-freedom robotic arm attached to a UAV, and a ground station that displays the real-time videos sent back by the UAV-based camera. The system targets to perform operations in a remote or hazardous environment, such as water sampling, leakage estimation, or radiation measurement. A two-step control scheme is developed to achieve action synchronization for remote operation. First, the UAV is controlled by user instruction of remote controller to reach the desired location and posture. Second, the user controls UAV robotic arm with IMU motion sensors, according to the real-time videos transmitted back by the UAV-based camera. The synchronous errors between two arms are reduced by using a PID controller. The system has been validated through a number of experiments, and its performance can achieve acceptable accuracies for many real-world applications.

UAVs robotic arm action synchronization IMU sensors

第一 ; 通讯

英语

CPCI-S ; EI

Automation & Control Systems

Automation & Control Systems

WOS:000387187800432

20164202921815

Cameras ; Controllers ; Degrees of freedom (mechanics) ; Remote control ; Robotic arms ; Robotics ; Synchronization ; Three term control systems ; Unmanned aerial vehicles (UAV)

Aircraft and Avionics:652 ; Aircraft, General:652.1 ; Control Systems:731.1 ; Robotics:731.5 ; Control Equipment:732.1 ; Photographic Equipment:742.2 ; Mechanics:931.1 ; Systems Science:961

Web of Science

Southern Univ Sci & Technol, Dept Elect & Elect Engn, Shenzhen, Guangdong, Peoples R China

Lan, Gongjin,Bu, Yasheng,Liang, Jinhao,et al. Action Synchronization between Human and UAV Robotic Arms for Remote Operation[C]. 345 E 47TH ST, NEW YORK, NY 10017 USA:IEEE,2016:2477-2481.