drexel_mm_uav_status
Differences
This shows you the differences between two versions of the page.
Last revisionBoth sides next revision | |||
drexel_mm_uav_status [2016/11/01 11:09] – created dwallace | drexel_mm_uav_status [2016/11/06 03:02] – dwallace | ||
---|---|---|---|
Line 1: | Line 1: | ||
====== MM-UAV Status Page ====== | ====== MM-UAV Status Page ====== | ||
- | == October 1-31st, 2013 == | + | ==== October 1-31st, 2013 ==== |
=== Status === | === Status === | ||
- | * Gantry playback of UAV motions | + | |
- | * Insertion experiments | + | |
+ | * Insertion experiments | ||
=== Reflection === | === Reflection === | ||
- | * Test 2 - Gantry mimicking UAV motions with Cartesian-controlled end-effector performing insertion task with compliance | + | |
{{# | {{# | ||
- | * Test 1 - Gantry mimicking UAV motions with Cartesian-controlled end-effector performing insertion task | + | |
{{# | {{# | ||
- | * Gantry playing back log file of x-y-z positions and velocities of UAV flight | + | |
{{# | {{# | ||
- | * Position history (x-y) | + | |
[[File: | [[File: | ||
- | == September 1-30th, 2013 == | + | ==== September 1-30th, 2013 ==== |
=== Status === | === Status === | ||
- | * Conference paper writing (ICRA) | + | |
- | * Gain tuning | + | * Gain tuning |
=== Reflection === | === Reflection === | ||
- | * Controller testing without manipulator attached | + | |
{{# | {{# | ||
- | * Marker tracking and arm articulation | + | |
{{# | {{# | ||
- | * ICRA 2014 Video Submission - Peg-in-hole testing, flight tests with arm articulation, | + | |
{{# | {{# | ||
- | * 3-DOF Arm, 1-DOF gripper, manual control | + | |
{{# | {{# | ||
- | * First flights - manual control, tethered power and communications, | + | |
{{# | {{# | ||
- | == August 1-31st, 2013 == | + | ==== August 1-31st, 2013 ==== |
=== Status === | === Status === | ||
- | * Thesis writing | ||
- | * MM-UAV aircraft and arm development | ||
- | == July 1-31st, 2013 == | + | * Thesis writing |
+ | * MM-UAV aircraft and arm development | ||
+ | |||
+ | ==== July 1-31st, 2013 ==== | ||
=== Status === | === Status === | ||
- | * Progress toward a fast-IK solver | + | |
- | * Simulation environment and testing | + | |
+ | * Simulation environment and testing | ||
=== Reflection === | === Reflection === | ||
- | * Simulink Block Diagram | + | |
[[File: | [[File: | ||
- | * Simulink Animation | + | |
{{# | {{# | ||
- | * Pick-and-place and peg-in-hole at the Larics Lab | + | |
{{# | {{# | ||
- | * Robotics Toolbox simulation model for MM-UAV | + | |
[[File: | [[File: | ||
- | * Visual servoing using motion capture and an ARTag marker | + | |
Video 1 - End-effector tracking a motion capture marker | Video 1 - End-effector tracking a motion capture marker | ||
Line 89: | Line 96: | ||
{{# | {{# | ||
- | == June 1-30th, 2013 == | + | ==== June 1-30th, 2013 ==== |
=== Status === | === Status === | ||
- | * Joint work with Matko Orsag to tune MM-UAV velocity and pitch controller | + | |
+ | | ||
=== Reflection === | === Reflection === | ||
- | * Peg-in-hole insertion using Cartesian impedance control | + | |
+ | | ||
Video 1 - No UAV reaction | Video 1 - No UAV reaction | ||
Line 104: | Line 114: | ||
{{# | {{# | ||
- | <!-- | + | |
Video 3 - Insertion and missed insertion with UAV reaction | Video 3 - Insertion and missed insertion with UAV reaction | ||
{{# | {{# | ||
- | --> | ||
- | * Control Architecture | + | |
+ | | ||
[[File: | [[File: | ||
- | * Applied pitch torque and UAV linear velocity | + | |
[[File: | [[File: | ||
- | == May 1-31st, 2013 == | + | ==== May 1-31st, 2013 ==== |
=== Status === | === Status === | ||
- | * Presented paper at ICRA conference in Karlsruhe, Germany | + | |
- | * Presented paper at ICUAS conference in Atlanta | + | |
+ | * Presented paper at ICUAS conference in Atlanta | ||
=== Reflection === | === Reflection === | ||
- | * Picture - ICRA presentation | + | |
+ | | ||
[[File: | [[File: | ||
- | == April 1-30th, 2013 == | + | ==== April 1-30th, 2013 ==== |
=== Status === | === Status === | ||
- | * Presented paper at TePRA conference in Boston | + | |
- | * Built ROS Moveit package for MK2 Arm | + | |
+ | * Built ROS Moveit package for MK2 Arm | ||
=== Reflection === | === Reflection === | ||
- | * Video1 - Moveit motion planning test | + | |
+ | | ||
{{# | {{# | ||
- | == March 1-31st, 2013 == | + | ==== March 1-31st, 2013 ==== |
=== Status === | === Status === | ||
- | * Final TePRA paper submitted for publication | + | |
- | * Final ACC paper submitted for publication | + | |
+ | * Final ACC paper submitted for publication | ||
=== Reflection === | === Reflection === | ||
- | * Video1 - Tool usage tests | + | |
+ | | ||
{{# | {{# | ||
Line 153: | Line 172: | ||
</ | </ | ||
- | * Video2 - Improved MM-UAV Gantry control through torque feedback | + | |
- | ** The torque sensors in the MK2 torso measure applied joint torque which is then added as a disturbance to a linear velocity reaction in the gantry | + | * The torque sensors in the MK2 torso measure applied joint torque which is then added as a disturbance to a linear velocity reaction in the gantry |
{{# | {{# | ||
- | == February 1-28st, 2013 == | + | ==== February 1-28st, 2013 ==== |
=== Status === | === Status === | ||
- | * Specifics on [http:// | + | |
- | * TePRA paper accepted for publication | + | |
- | * ACC paper accepted for publication | + | * TePRA paper accepted for publication |
- | * ICUAS paper submitted | + | * ACC paper accepted for publication |
- | * Conducted torque profiling experiments | + | * ICUAS paper submitted |
- | * Attended conference call between ARL-DU-Drexel on MM-UAV collaboration | + | * Conducted torque profiling experiments |
+ | * Attended conference call between ARL-DU-Drexel on MM-UAV collaboration | ||
=== Reflection === | === Reflection === | ||
- | * Video1 - MM-UAV Gantry control through torque feedback | + | |
- | ** The torque sensors in the MK2 torso measure applied joint torque which is then mapped to a linear velocity reaction in the gantry | + | |
- | ** Impedance control is currently enabled to allow for a push-pull on the aircraft | + | * The torque sensors in the MK2 torso measure applied joint torque which is then mapped to a linear velocity reaction in the gantry |
+ | * Impedance control is currently enabled to allow for a push-pull on the aircraft | ||
{{# | {{# | ||
- | * Images | + | |
- | ** Hose insertion testing and torque profiling | + | * Hose insertion testing and torque profiling |
<gallery widths=400px heights=250px> | <gallery widths=400px heights=250px> | ||
Line 183: | Line 205: | ||
</ | </ | ||
- | * Torque profile for elbow pitch joint | + | |
<gallery widths=800px heights=600px>> | <gallery widths=800px heights=600px>> | ||
File: | File: | ||
</ | </ | ||
- | * Video2 - MM-UAV tool usage | + | |
- | ** Arm easily grabs and drills a hole. Joint control is difficult through a joystick which is why the movements are jerky and slow | + | * Arm easily grabs and drills a hole. Joint control is difficult through a joystick which is why the movements are jerky and slow |
{{# | {{# | ||
- | * Video3 - MK2 impedance control testing | + | |
- | ** Elbow pitch and wrist pitch joints set with inertia, stiffness, and damping parameters | + | * Elbow pitch and wrist pitch joints set with inertia, stiffness, and damping parameters |
{{# | {{# | ||
- | * Video4 - MK2 RViz Simulation | + | |
{{# | {{# | ||
Line 206: | Line 229: | ||
=== Tasks === | === Tasks === | ||
- | == January 1-31st, 2013 == | + | ==== January 1-31st, 2013 ==== |
=== Status === | === Status === | ||
- | * ROS-packages operational | + | |
- | ** /command messages and / | + | |
- | ** Gantry control through / | + | * /command messages and / |
- | ** Gantry feedback through /tf published by motion capture system | + | * Gantry control through / |
- | ** CAD exported to URDF with RViz mimicing joint states | + | * Gantry feedback through /tf published by motion capture system |
- | * Mounted HDT MK2 Arm and Torso to 3-DOF Gantry | + | * CAD exported to URDF with RViz mimicing joint states |
- | ** Arm consists of 7-DOFs to include shoulder pitch, roll, yaw; elbow pitch; wrist yaw, pitch, roll joints | + | * Mounted HDT MK2 Arm and Torso to 3-DOF Gantry |
- | ** 4-DOF end-effector has opposable thumb yaw joint, thumb pitch joint, index finger pitch joint, and ring finger pitch joint | + | * Arm consists of 7-DOFs to include shoulder pitch, roll, yaw; elbow pitch; wrist yaw, pitch, roll joints |
- | ** Torque feedback on all joints. Finger actuators provide ~2 Nm of torque | + | * 4-DOF end-effector has opposable thumb yaw joint, thumb pitch joint, index finger pitch joint, and ring finger pitch joint |
- | * TePRA paper submitted | + | * Torque feedback on all joints. Finger actuators provide ~2 Nm of torque |
- | * ICUAS paper in-progress | + | * TePRA paper submitted |
+ | * ICUAS paper in-progress | ||
=== Reflection === | === Reflection === | ||
- | * Video1 - MM-UAV grasping test | + | |
- | ** End-effector easily provides enough grasping force for 1600g hose. Arm is joystick-operated to insert hose into pump. | + | * End-effector easily provides enough grasping force for 1600g hose. Arm is joystick-operated to insert hose into pump. |
{{# | {{# | ||
- | * Video2 - ROS and Rviz environment | + | |
- | ** ROS-package provides control of each actuator and sensor feedback updates robot and joint states in Rviz. | + | * ROS-package provides control of each actuator and sensor feedback updates robot and joint states in Rviz. |
{{# | {{# | ||
- | * Still Images | + | |
- | ** Concept poses for potential MM-UAV tasks (all poses were done through tele-op control) | + | * Concept poses for potential MM-UAV tasks (all poses were done through tele-op control) |
<gallery widths=400px heights=250px perrow=2> | <gallery widths=400px heights=250px perrow=2> | ||
Line 242: | Line 267: | ||
=== Milestones === | === Milestones === | ||
- | * All actuators can be commanded with position/ | + | |
- | * Software infrastructure consists of ROS and OpenRAVE | + | |
+ | * Software infrastructure consists of ROS and OpenRAVE | ||
=== Tasks === | === Tasks === | ||
- | * Develop an ikfast plugin using OpenRAVE | ||
- | * Run a whole-body kinematic trajectory on MM-UAV | ||
- | * Implement aircraft model and attitude controller on gantry and gimbal | ||
- | * Implement impedance control on manipulator to provide active compliance during task execution | ||
- | == General Information == | + | * Develop an ikfast plugin using OpenRAVE |
+ | * Run a whole-body kinematic trajectory on MM-UAV | ||
+ | * Implement aircraft model and attitude controller on gantry and gimbal | ||
+ | * Implement impedance control on manipulator to provide active compliance during task execution | ||
+ | |||
+ | ==== General Information | ||
=== Mission Description === | === Mission Description === | ||
+ | |||
MM-UAV will focus on three classic control problems: peg-in-hole, | MM-UAV will focus on three classic control problems: peg-in-hole, | ||
The first task under study is Task 8. | The first task under study is Task 8. | ||
- | * Task 8 - Connect cable or hose | + | |
- | ** Perception ability to locate and manipulation ability to make connection | + | * Perception ability to locate and manipulation ability to make connection |
- | ** Hose could be firefighting water hose or electrical cable | + | * Hose could be firefighting water hose or electrical cable |
- | ** Will have to carry across terrain then connect | + | * Will have to carry across terrain then connect |
< | < | ||
Line 270: | Line 298: | ||
To complete the task, things listed below must be integrated. | To complete the task, things listed below must be integrated. | ||
- | * Grasping | + | |
- | * Manipulation | + | * Manipulation |
- | * Lifting & Carrying | + | * Lifting & Carrying |
- | * Flight Stability | + | * Flight Stability |
- | * Impedance/ | + | * Impedance/ |
=== Project Lead === | === Project Lead === | ||
- | * Drexel Autonomous System Laboratory (DASL) directed by Dr. Paul Y. Oh, Mechanical Engineering and Mechanics, Drexel University | + | |
- | ** Kinematic & Dynamic motion planning for whole-body lifting and carrying | + | * Kinematic & Dynamic motion planning for whole-body lifting and carrying |
- | ** Whole-body motion control design | + | * Whole-body motion control design |
- | ''' | + | **Contact info:** |
- | ''''' | + | **Paul Y. Oh**, Professor: paul@coe.drexel.edu, |
drexel_mm_uav_status.txt · Last modified: 2016/11/06 17:13 by dwallace